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Add how to echo Extrinsic topic on intra-process to README #2333

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11 changes: 9 additions & 2 deletions README.md
Original file line number Diff line number Diff line change
Expand Up @@ -281,8 +281,15 @@ Further details on efficient intra-process communication can be found [here](htt
### Limitations

* Node components are currently not supported on RCLPY
* Transformations: `/static_tf` topic will be disabled (activate and read `/tf` topic and `/extrinsic/<stream>_to_<stream>` and use `-p tf_publish_rate:=1.0` on the command-line)
* `image_transport` use for compressed image topic will be disabled as it does not support intra-process communication
* Transformations: `/static_tf` topic will be disabled
* To get the transformations published:
* Set `tf_publish_rate` to `1.0` in the launch file (or on the command-line, using `-p tf_publish_rate:=1.0`)
* Activate and read `/tf` and `/extrinsic/<stream>_to_<stream>` topics
* To echo the `/extrinsic/<stream>_to_<stream>` topic you will need to change the default CLI QoS to match the new QoS that the `intra-process` flow uses. E.g.:
```bash
ros2 topic echo /extrinsics/depth_to_color --qos-durability=volatile --qos-reliability=reliable
```
* Compressed images using `image_transport` will be disabled as this isn't supported with intra-process communication

### Latency test tool and launch file

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