SHM

Abstruct

SHM is short for "Shared-memory based Handy-communication Manager". This provides ROS(Robot Operating System)-like interprocess communication such as Topic, Service and Action with shared memory. This is based on the library developed by Dr. Prof. Koichi Ozaki for his laboratory.

DEMO

This is Publisher/Subscriber model communication demo. Left terminal publish class user made. Right terminal subscribe class.

Features

• High-speed interprocess communication (expectation)
• If the class you made is fixed size, the class can be used with nothing.
• Access restrictions can be set up with POSIX shared memory permission.

Requirements

• POSIX shared memory system

  SHM use POSIX shared memory system. The system is included in Linux such as Ubuntu.

• Python3 (optional)

  SHM support the usecase with Python.

• Boost.Python (optional)

  This library is required for support the usecase with Python.

How to build

This use CMake to build. Below is how to introduce and build SHM.

1. clone or add for submodule this repository.

   $ cd <Your_cmake_ws>/src
   $ git clone https://github.com/ir-utsunomiya/shared-memory-based-handy-communication-manager.git
   or
   $ git submodule add https://github.com/ir-utsunomiya/shared-memory-based-handy-communication-manager.git
   $ gedit CMakeLists.txt
   add "add_subdirectory(shared-memory-based-handy-communication-manager)"
   

2. build programs.

   $ cd <Your_cmake_ws>/build
   $ cmake ..
   $ make
   

Manuals / Tutorials

TODO: We will add manuals and tutorials to Github Pages

License

SHM is under Apache 2.0 License.