Pass pointer in nodelets instead of message types

asked 2016-04-20 11:22:10 -0500


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?


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