From 7d36864bedaa44075b3d62cdc517d8c1b2c08d37 Mon Sep 17 00:00:00 2001 From: Tomoya Fujita Date: Fri, 4 Feb 2022 14:35:01 -0800 Subject: [PATCH] add explanation for `ROS_DISABLE_LOANED_MESSAGES`. Signed-off-by: Tomoya Fujita --- articles/zero_copy.md | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/articles/zero_copy.md b/articles/zero_copy.md index 282f78d71..37ca5c5b0 100644 --- a/articles/zero_copy.md +++ b/articles/zero_copy.md @@ -293,6 +293,17 @@ void rclcpp::Subscription::handle_loaned_message(void * loaned_message, const rmw_message_info_t & message_info) ``` +### ROS_DISABLE_LOANED_MESSAGES + +By default, `Loaned Messages` will try to borrow memory from the underlying middleware. +The `ROS_DISABLE_LOANED_MESSAGES` environment variable is provided so the user can disable `Loaned Messages` and fallback to normal publisher / subscription without any code change or middleware configuration. + +How to disable `Loaned Messages`: + +``` +export ROS_DISABLE_LOANED_MESSAGES=1 +``` + ## Additional Considerations ### Loaning non-POD messages