Re: How to use nodelets in ROS

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-use-nodelets-in-ROS-tp671p683.html

Hi,

From the nodelet documentation:

"Nodelets are designed to provide a way to run multiple algorithms on a single machine, in a single process, without incurring copy costs when passing messages intraprocess. roscpp has optimizations to do zero copy pointer passing between publish and subscribe calls within the same node."
...
"Any communications between them can use the zero copy roscpp publish call with a boost shared pointer."

So, only a pointer to data is shared between the nodelets. I think that if a nodelet publishes a pointer, it should not modify the content after that as the subscribers will read the same data.

cheers