On 08/19/2010 05:55 PM, Daniel Stonier wrote:
>
> Been playing around with nodelets and have a curiosity. I understand
> that their design was driven by the need to pass objects by handles
> (pointers) across messaging rather than full copies.
>
> Recently however, one of the willow garage guys (Josh maybe? I can't
> remember) pointed me to try some tests a little while ago with node
> handles. If carefully passing and publishing a boost pointer, then a
> subscriber in the same process will simply receive that pointer and
> bypass all the tcp/ip layers. Was this implemented recently as a result
> of the work on nodelets? If not, are there any important differences
> between this and nodelets communication mechanisms?
>
> Actually, I still like the nodelets. Being able to drop your libraries
> containing nodelets onto the nodelet manager via roslaunch file is
> awesome. You can put together an interrupt driven control system
> designed entirely from libraries and xml without the need to even
> program any binaries in most cases. Awesome.
>
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>
>
>