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Description

Updates the intra-process communication design document to reflect the actual current behavior with respect to function publish():
shared_ptr messages: Cannot be published (removed incorrect zero-copy claims)
unique_ptr messages: Zero-copy transfer achieved
raw messages: Both msg and std::move(msg) result in copying
Key changes:

  • Add notes about current behaviour
  • Removed the entire "Publishing SharedPtr" table section since shared_ptr cannot be published

Fixes # (issue)

Is this user-facing behavior change?

No

Did you use Generative AI?

No

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rclcpp does not support zero-copy intra-process communication for shared_ptr or std::move raw messages

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