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ROS doesn't provide intra-process, zero-copy publishing.

Nodelets can be run multi-threaded, so it is possible to have zero-copy between different nodelets within a single nodelet manager.

I also believe that there is some research into shared-memory image transports at ETH: http://wiki.ros.org/ethzasl_message_transport , but it looks like these haven't been worked on in a while.

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