[ros-users] Nodelets

[Nicholas Butko]

On Dec 4, 2010, at 12:45 PM, Radu Bogdan Rusu wrote:
> 
> 
>> I am thinking of transferring a bunch of my nodes to nodelets, and I guess I want to know what people at WG are finding "best practices" are. Do you find yourself coding every new node as a nodelet, or only when it's absolutely necessary? Are there any good strategies for hybrid nodes/lets? How easy is it to write a main function that "runs" a nodelet as a node?
> 
> 
> In general, nodelets should not be abused. If the performance of nodes (copy/(de)serialization) is really what's dragging your processing graph down, then sure, nodelets are offering a viable alternative. However, this should really be profiled first for each application.
> 


Thanks, Radu. 

If anyone has already done benchmarks on this, I would be interested to see them (maybe they could be added to the nodelets page), but if not, it's no big deal. 

--Nick 


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