What is the use of multiple nodehandles
I didn't really get the concept of nodehandles from the ROS wiki and couldn't find any concise answer with google. I understood that a ROS node can have multiple nodehandles and they refer to the same node. In a node's main(), I first initialize the node using ros::Init() and then use a nodehandle for starting and shutting down the node. So what does the declaration of multiple nodehandles do in this case?