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Maybe something like this image may be useful :-)

To answer to your question:

Are nodelets just a way of making your nodes more efficient?

It really depends on how your nodes communicate each other, and the reason for that communication. Sorry for the "it depends", but without any clue about your issue, no one can tell you more than this :-)

Have a look also here http://wiki.ros.org/roscpp/Overview/Publishers%20and%20Subscribers#Intraprocess_Publishing

Maybe something like this image may could be useful :-)

To answer to your question:

Are nodelets just a way of making your nodes more efficient?

It really depends on how your nodes communicate each other, and the reason for that communication. Sorry for the "it depends", but without any clue about your issue, no one can tell you more than this :-)

Have a look also here http://wiki.ros.org/roscpp/Overview/Publishers%20and%20Subscribers#Intraprocess_Publishing