Pass pointer in nodelets instead of message types
Hi,
This question is closely related with this . The point is that I have two nodelets running in the same manager. I want to share something big among them (let us say, octomap), so that I would have to convert from OcTree
to octomap_msgs
and then undo the conversion, which is a waste in nodelets.
Is there any way I can simply give the pointer and publish it so that I can avoid this? Maybe creating a octomap_ptr
message or something?
Thanks!