Hello, I know that one can easily obtain zero-copy transfers between nodelets within a single node but I was wondering if there is a way to avoid copy (and most importantly serialization/deserialization) between two nodes running on the same machine. I want the vrep simulator to send image messages to matlab and I am using the vreprosbridge and matlabrosbridge (I am one of the authors) for this. However the message passing is quite slow due to the multiple copies and serializations. On the other hand I cannot use nodelets because vrep and matlab each have their own executables. The only thing I could think of is to have two nodelets running in a single node and each one sharing a shared_memory portion with vrep and matlab respectively but this seems quite cumbersome. Any other idea? Thank you. Riccardo