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answered 2011-08-25 04:21:54 -0500

joq gravatar image

I am surprised this seemed to work at all. I would not expect a single process to provide more than one node.

I recommend implementing each thread as a nodelet. They are well-supported and the nodelet manager can dynamically load additional threads for the process when needed.

Many camera drivers provide device nodelets, allowing you to display shared copies of the images published. The image pipeline also provides nodelets for similar reasons.