> 
>> But, does a nodelet run as standalone basically run just as well as an
>> ordinary node? If the overhead of the standalone nodelet is zero in
>> terms of speed and small in terms of memory footprint (are those valid
>> assumptions?), then creating a node from the beginning as a nodelet
>> seems like the way to go as you can easily combine it with a nodelet
>> manager down the road, without a recompile.
> 
> 
> Yup!
> 

Then, is there any advantage to creating nodes as nodes instead of nodelets? 

--Nick