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add explanation for ROS_DISABLE_LOANED_MESSAGES. #324

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Feb 11, 2022
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add explanation for ROS_DISABLE_LOANED_MESSAGES. #324

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11 changes: 11 additions & 0 deletions articles/zero_copy.md
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Expand Up @@ -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
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