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The threading model is documented at: http://wiki.ros.org/nodelet#Threading_Model
It's built upon the standard ROS threading, documented at: http://wiki.ros.org/roscpp/Overview/Callbacks%20and%20Spinning
The multi-threaded node handle has the shared thread pool also shares a callback queue across all multi threaded node handles in the process.
The single threaded node handle has a custom callback queue with a single thread shared across all single threaded node handles in the process.
If you want very specific behavior I suggest setting up your own callback queues and threads within the nodelet.
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