Messages between Nodes and Nodelets
I am curious as to the way messages are sent if it is being published from a Node, and being subscribed to from a Nodelet. From the wiki page, Nodelet offers "zero copy pointer passing between publish and subscribe calls within the same node." To me, this implies that, for Nodelets operating under the same manager, rather than copying the message being sent, a pointer to the message is sent, lightening the load.
What I am wondering is if a Nodelet is subscribed to a topic, which is published from a seperate Node, was goes on behind the scenes in terms of copying of the data. What I am guessing is that the nodelet manager copies the data through TCP, then sends a pointer to the nodelet?
+1, I am also a little unclear on this.