Eclipse iceoryx

A shared-memory, zero-copy inter-process communication library often used by DDS and ROS 2 to move large data.

iceoryx is an open-source inter-process communication (IPC) middleware hosted by the Eclipse Foundation, originally developed by a Bosch team for automotive software. Ordinary communication copies data from the sender to the receiver, and for large messages like images or point clouds that copy alone can take a while; iceoryx instead lets the sender write data straight into shared memory, with the receiver getting only a reference to it — “zero-copy” — so transfer latency is essentially independent of message size. It only handles processes on the same machine; communication across machines still needs a network protocol like DDS. Cyclone DDS can use it as its local shared-memory transport layer. A Rust rewrite, iceoryx2, has since been released as well.

ExampleConfiguring Cyclone DDS on a robot's main controller to enable iceoryx shared memory means high-resolution images sent from a camera node to a perception node no longer get copied.

Also called

iceoryx2

Related

Zero-Copy (Shared-Memory IPC) · Eclipse Cyclone DDS · Middleware · Robot Operating System 2 · Dataflow-Oriented Robotic Architecture (dora)

Sources

Eclipse iceoryx 官网 (Chinese)
iceoryx GitHub