How to load two seperate nodelets in the nodelet manager

edit

To load your nodelets you must have loaded a nodelet manager first.

• Using command lines :

Load the nodelet_manager (you can put the name you want but make sure all your nodelets use the same manager)

rosrun nodelet nodelet manager __name:=nodelet_manager

Then you can load your nodelets (again replace nodelet_manager with the name you chose previously), if you have two nodelets you have to run :

rosrun nodelet nodelet load PACKAGE_OF_YOUR_NODELET/NODELET1 nodelet_manager
rosrun nodelet nodelet load PACKAGE_OF_YOUR_NODELET/NODELET2 nodelet_manager

• Using launch file :

  < node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>

  < node pkg="nodelet" type="nodelet" name="NODELET1" args="load PACKAGE_OF_YOUR_NODELET/NODELET1 nodelet_manager"> < /node>

  < node pkg="nodelet" type="nodelet" name="NODELET2" args="load PACKAGE_OF_YOUR_NODELET/NODELET2 nodelet_manager"> < /node>

You can also set a parameter or remap some topics as in the tutorial. I personnaly prefer to use launch files.

But always remember that the nodelet manager is mandatory here and if by mistake you load your nodelets in two different nodelet_manager you will lose the specificity of the nodelets and they will have the same behavior as a node.