Can rtabmap_ros wrapped to a nodelet?

[mantouRobot]

Hi~
      matlabbe~
      Follow the demo launch file, i fake up the openni to drive the camera and then feed the image to rtabmap_ros. Now I want to decrease the image copy cost. So I should use nodelet both in openni and rtabmap_ros. That's to say, I must create the nodelet manager and make the openni and rtabmap_ros in the same manager. But I don't know how can i make rtabmap_ros wrapped to a nodelet? Can u give me some advice?
      Thank u very much~

[matlabbe]

see this post.