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What I am wondering is if a Nodelet is subscribed to a topic, which is published from a seperate Node, was goes on behind the scenes in terms of copying of the data. What I am guessing is that the nodelet manager copies the data through TCP, then sends a pointer to the nodelet?
Yes, that is just about what is happening.
In cases where one of the participants is not hosted by the same nodelet manager (so doesn't share the same address space) the regular infrastructure for (de)serialising messages is used to get the data across.
In essence you'll not benefit from the zero-copy behaviour of nodelets at all in that case.
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