Is it possible to support set node options in launch file?

[xhuan28]

I have two ComposableNode in launch.py and execute them in a single process. However, there is not any performance improvement compared with running them in two processes respectively, in terms of latency and throughput(measured by ros2 topic delay and ros2 topic hz). Is it expected?
After the observation, I would like to make them run in a single process with memory zero-copy. As far as I know, it can be set by intra_process_comm of rclcpp::NodeOptions, but I don't know how to make it in launch file. Anyone can help?

[fujitatomoya]

i don't think currently we can do that.

but will be possible once ros2/rclcpp#871 is done.

[xhuan28]

I verified that it works after applying ros2/rclcpp#871. Thanks.