apollo-platform是基于indigo的哪个commit 后修改的，怎么知道apollo-platform相对于原始的ros修改了哪些代码 ？

[westeast]

apollo-platform是基于indigo的哪个commit 后修改的，怎么知道apollo-platform相对于原始的ros修改了哪些代码 ？

[bjtulynn]

Apollo-platform is originated from ROS Indigo release version(Indigo Igloo, May 2014), compared to original ROS, we made the following improvements to enhance its stability and performance:

• ROS Decentralization Feature
• High Efficient Communication based on Shared Memory Transport Feature
• Native Support with Protobuf Feature

You can download the source code of indigo igloo release version from ROS website(http://wiki.ros.org/indigo/Installation/Source), then by comparing the files, you can find the detailed changes we made.

[westeast]

Thank you very much ,your answer is very useful~~

[westeast]

I have compare the source code ,

And I found all the change files about shared memory are in dir "/ros/ros_comm/roscpp/src/" ,But I am not sure if it is right.

so
@bjtulynn Can you tell me which files you have changed for the Feature "High Efficient Communication based on Shared Memory Transport Feature" except the dir "/ros/ros_comm/roscpp/src/"

I want to read the source code about the Feature , Maybe I can write an article to introduce the feature in source code level。

[westeast]

node节点添加共享内存修改的文件，新增了一部分文件，修改了一部分文件，仅修改了roscpp/libros rosbag中的文件

new add files

src/ros_comm/roscpp/include/ros/config_comm.h
src/ros_comm/roscpp/include/sharedmem_transport/rossharedmem_block.h
src/ros_comm/roscpp/include/sharedmem_transport/sharedmem_publisher_impl.h
src/ros_comm/roscpp/include/sharedmem_transport/sharedmem_segment.h
src/ros_comm/roscpp/include/sharedmem_transport/sharedmem_util.h

src/libros/sharedmem_transport/sharedmem_block.cpp
src/libros/sharedmem_transport/sharedmem_publisher_impl.cpp
src/libros/sharedmem_transport/sharedmem_segment.cpp
src/libros/sharedmem_transport/sharedmem_util.cpp

transport_mode.yaml

modify files

src/ros_comm/roscpp/include/ros/publisher.h
src/ros_comm/roscpp/include/ros/shm_manager.h
src/ros_comm/roscpp/include/ros/subscribe_options.h
src/ros_comm/roscpp/include/ros/subscription_callback_helper.h
src/ros_comm/roscpp/include/ros/subscription_queue.h
src/ros_comm/roscpp/include/ros/topic_manager.h



src/ros_comm/roscpp/src/libros/init.cpp
src/ros_comm/roscpp/src/libros/publication.cpp
src/ros_comm/roscpp/src/libros/publisher.cpp
src/ros_comm/roscpp/src/libros/shm_manager.cpp
src/ros_comm/roscpp/src/libros/subscription_queue.cpp
src/ros_comm/roscpp/src/libros/topic_manager.cpp

src/ros_comm/rosbag/src/recorder.cpp

[bjtulynn]

Good job! For the feature "High Efficient Communication based on Shared Memory Transport Feature", the changed files are exactly these.

[bjtulynn]

Close issue after no inactive for 7 days.