rosidl_buffer_backends

Vendor-specific storage backends for rosidl::Buffer, enabling ROS 2 publishers and subscribers to share accelerator-accessible memory without copying when supported, with automatic fallback to the default CPU path. PyTorch conversion libraries use the same buffer infrastructure.

Packages

• cuda_buffer_backend – CUDA buffer backend packages for zero-copy GPU memory sharing using CUDA VMM IPC, including cuda_buffer_py allocation, scoped read/write handles, and copies for Python.
• qc_buffer_backend – Qualcomm buffer backend packages for HTP-CPU zero-copy sharing using dma-buf memory.
• libtorch_vendor – CPU LibTorch provider.
• libtorch_cuda_vendor – CUDA LibTorch provider.
• python3_torch_vendor – CPU Python Torch provider.
• python3_torch_cuda_vendor – CUDA Python Torch provider.
• tensor_msgs – DLPack-aligned ExperimentalTensor.msg definition.
• torch_conversions – C++ at::Tensor API and runtime plugin registry.
• torch_conversions_cpu – C++ host-memory implementation.
• torch_conversions_cuda – C++ CUDA implementation backed by cuda_buffer.
• torch_conversions_py – Python torch.Tensor API and plugin registry.
• torch_conversions_py_cpu – Python host-memory implementation.
• torch_conversions_py_cuda – Python CUDA implementation.

Deb build status

ROS 2 Lyrical (Ubuntu Resolute)

Package	Source deb	Binary deb (amd64)	Binary deb (arm64)
cuda_buffer
cuda_buffer_backend
cuda_buffer_backend_msgs
tensor_msgs
torch_conversions

ROS 2 Rolling (Ubuntu Resolute)

Package	Source deb	Binary deb (amd64)	Binary deb (arm64)
cuda_buffer
cuda_buffer_backend
cuda_buffer_backend_msgs
tensor_msgs
torch_conversions

Prerequisites

• A ROS 2 Rolling development environment. See the upstream Building ROS 2 on Ubuntu guide for the canonical source-build flow, or use the pixi workflow shipped by the ros2/ros2 meta-repo.

• Each backend depends on its vendor-specific platform support. Refer to the backend documentation for detailed prerequisites, setup, build, test, and usage instructions:

• cuda_buffer_backend/README.md
• qc_buffer_backend/README.md
• torch_conversions/README.md

License

Apache-2.0

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Contributors must sign-off each commit by adding a Signed-off-by: ... line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the Developer Certificate of Origin (DCO).