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You can install both and switch between them, but only one node at a time can run and connect to the robot controller, both nodes cannot run at the same time.
When either node (any software actually) disconnects from the robot controller any temporary state (acceleration settings, pid settings, etc.) is reset within the robot controller.
ROSARIA will work with more of the ActivMedia/MobileRobots/AMR robots especially the newer ones, but p2os will certainly work for Pioneer 3 and Amigobot. p2os has been around longer, has more supporting infrastructure built around it like URDF, launch files, examples, and also doesn't require also installing the ARIA library. I am personally biased towards ROSARIA since its easier for me to support, but recognize that p2os has advantages as well. They have fairly similar interfaces (I think that the essential stuff at least is identical like cmd_vel, pose, sonar topics) so I think you should be able to switch from one to the other if necessary, by changing topic name references or remapping the topic names. I don't have lots of experience with p2os though.
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