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Topics published by nodelets are no different from regular topics, apart from the fact that other nodelets hosted by the same nodelet manager can use shared memory to avoid (de)serialisation.

Regular nodes (ie: other processes) cannot, and will thus use the regular TCP/IP (or UDP) based transports to receive the messages (this is irrespective of the programming language: it's more about whether the subscribing node(let) shares an address space with the publisher).

If you desire/require zero-copy pub-sub, writing a nodelet in C++ will be required.