On 12/04/2010 12:12 PM, Nicholas Butko wrote:
>>
>>> 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?

Sure. If a nodelet dies, the entire process might die. Nodes are more "robust", as you can restart/respawn them 
individually.

Cheers,
Radu.
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