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Private node handles are used for accessing resources (advertising, subscribing topics, parameters, ...) in the nodelet's private namespace. The non-private version should give a node handle in the manager's namespace.

Example: you run a nodelet foo in the manager named bar. When advertising the topic baz using the private node handle, the topic should be something like that:

/bar/foo/baz

When using the non-private node handle, you should get:

/bar/baz