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

On Fri, Sep 17, 2010 at 11:12 AM, Josh Faust <jfaust@willowgarage.com>wrote:

>
>>
>> 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:
>
> http://www.ros.org/wiki/roscpp/Overview/Publishers%20and%20Subscribers#Intraprocess_Publishing
> http://www.ros.org/wiki/nodelet#Publishing_from_a_Nodelet
>
> Josh
>
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>