we think it might be useful to have the possibility of launching rclcpp components inside the RQT context. This would for example allow intra-process communication between a camera driver launched as a component and the image_view plugin.
One option of doing this is to add a
componentManager to the RQT
NodeletPluginProvider and pass its executor to the
componentManager. We currently use a prototype based on this approach.
Another option would be to have a component container RQT plugin. This would either require that the executor of the
NodeletPluginProvider is exposed to the RQT cpp plugins or that the component container plugin runs its own executor.
We would like to hear your opinion on this feature in general and how to implement it.
Thanks a lot for your feedback!