How do ROSJAVA nodes communicate between threads rather than processes?

asked 2015-01-14 21:27:31 -0500

SilverBullet gravatar image

As we all know,ROS Nodes communicates via XMLRPC and TCP. But in ROS JAVA, nodes are executed in different threads rather than different processes, so how can they hava different addresses? I am thinking that different processes can be assigned different port but different threads can not. So it's confusing how nodes communicate via TCP/XMLRPC with different uris or addresses.
I'm also confused about AdvertiseAddress and BindAddress. Why would an XMLRPC Server have 2 addresses? What's the difference? Really appreciated if anyone can help. :)

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