The semantics are the same as for any threaded use of a callback queue. What that means exactly depends on the callback you're talking about, so, for example, subscription callbacks on a single topic will not happen in multiple threads at once unless it's enabled in SubscribeOptions.
Despite searching the nodelet code and documentation, I'm having
trouble grasping the semantics of multi-threaded nodelets.
When would I want to call the getMT* methods for callback queues and
node handles? What advantages do they provide?
What are their threading and locking requirements, versus the
single-thread versions?
Is there any plan for a Documentation review of the nodelets package?
--
joq
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