agnocast repository

middleware zero-copy pubsub inter-process-communication ros2 agnocast_e2e_test agnocast_ioctl_wrapper agnocast_sample_application agnocast_sample_interfaces agnocastlib cie_config_msgs cie_thread_configurator ros2agnocast

Repository Summary

Description	A ROS 2-Compatible True Zero-Copy IPC Middleware supporting all ROS Message Types
Checkout URI	https://github.com/tier4/agnocast.git
VCS Type	git
VCS Version	main
Last Updated	2025-11-13
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	middleware zero-copy pubsub inter-process-communication ros2
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
agnocast_e2e_test	2.1.2
agnocast_ioctl_wrapper	2.1.2
agnocast_sample_application	2.1.2
agnocast_sample_interfaces	2.1.2
agnocastlib	2.1.2
cie_config_msgs	0.0.0
cie_thread_configurator	0.0.0
ros2agnocast	2.1.2

README

ROS 2 Agnocast

An rclcpp-compatible true zero-copy IPC middleware that supports all ROS message types, including message structs already generated by rosidl.

This middleware is based on the following paper and the corresponding prototype. The paper has been accepted to IEEE ISORC 2025 (pdf).

T. Ishikawa–Aso and S. Kato, “ROS 2 Agnocast: Supporting Unsized Message Types for True Zero-Copy Publish/Subscribe IPC,” in Proc. 28th Int. Symp. Real-Time Distributed Computing (ISORC), 2025, pp. 1–10.

BibTeX

```bibtex @inproceedings{ishikawa2025ros, title={ROS 2 Agnocast: Supporting Unsized Message Types for True Zero-Copy Publish/Subscribe IPC}, author={Ishikawa--Aso, Takahiro and Kato, Shinpei}, booktitle={2025 28th International Symposium on Real-Time Distributed Computing (ISORC)}, pages={01--10}, year={2025}, organization={IEEE} } ```

Supported Environments

Agnocast is currently available in the following environments. This reflects the current status, and support is expected to expand in the future.

Category	Supported Versions / Notes
ROS 2	Humble (only with `rclcpp` client library)
Linux Distribution	Ubuntu 22.04 (Jammy Jellyfish)
Linux Kernel	5.x / 6.x series (detailed version matrix not yet available)

Build

Setup.

bash scripts/setup

Build.

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

Run

Insert kernel module.

sudo modprobe agnocast

Run sample app (different window for each script). The order does not matter.

bash scripts/run_listener
bash scripts/run_talker

Stop applications and unload kernel module.

sudo modprobe -r agnocast

Debug

Check the kernel log.

sudo dmesg -w

To use dynamic_debug for dynamically outputting debug logs, please run the following command as super user:

sudo su
echo 'file agnocast_main.c +p' > /sys/kernel/debug/dynamic_debug/control

Check if dynamic_debug is enabled by running the following command. If the right side of the = is p, it is enabled. (If it’s _, it is disabled.)

sudo cat /sys/kernel/debug/dynamic_debug/control | grep "agnocast_main.c"
/.../agnocast/agnocast_kmod/agnocast_main.c:810 [agnocast]release_msgs_to_meet_depth =p "Release oldest message in the publisher_queue (publisher_pid=%d) of the topic (topic_name=%s) with qos_depth %d. (release_msgs_to_meet_depth)\012"
/.../agnocast/agnocast_kmod/agnocast_main.c:367 [agnocast]insert_message_entry =p "Insert an entry (topic_name=%s publisher_pid=%d msg_virtual_address=%lld timestamp=%lld). (insert_message_entry)"

To use dynamic_debug, the Linux kernel configuration must have CONFIG_DYNAMIC_DEBUG set to y. If CONFIG_DYNAMIC_DEBUG is not enabled in your environment, perform a debug build with:

```bash make CFLAGS_agnocast.o=”-DDEBUG”

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