ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
If you're worried about the overhead of multiple subscribers for high bandwidth/frequency topics like images and pointclouds, what you want is probably nodelets. From the wiki page:
Nodelets are designed to provide a way to run multiple algorithms on a single machine, in a single process, without incurring copy costs when passing messages intraprocess.
2 | No.2 Revision |
If you're worried about the overhead of multiple subscribers for high bandwidth/frequency topics like images and pointclouds, what you want is probably nodelets. From the wiki page:
Nodelets are designed to provide a way to run multiple algorithms on a single machine, in a single process, without incurring copy costs when passing messages intraprocess.
However, it has been said that "premature optimization is the root of all evil." I would recommend that you first try having your nodes subscribe independently as normal and see if you actually need to do anything fancier.