BTW, image_transport's "raw" transport (the default) is able to use the intraprocess message passing optimization. So there is no drawback to using image_transport in nodelets.
Patrick
That's just what I was looking for - thanks. Performance is vastly
improved now, down to about 12% CPU usage on the same within-nodelet test.12% still seems a bit high -- I'm running your test now and it's using 0% of my CPU. Then again I'm on a pretty beefy machine -- what hardware are you running on?Also, I've updated the wiki to mention this form of publishing:Josh
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