Hello,

After reading the imagetransport documentation, it seems like you can subscribe to an imageraw stream, but the callback has a signature that receives const image pointers.

My current understanding is that if you want to pass pointers between nodes, they have to be nodelets living in the same nodelet manager, and sharing memory.

However, it now seems to me like i can have two nodes, both of which are using imagetransport, one is publishing a sensormsgs::ImagePtr, and the other subscribes to that topic and has the callback signature: imageCallback(const sensormsgs::ImageConstPtr& imgmsg).

Does this mean that the two nodes are communicating via pointers, and therefore the overhead of serializing and de-serializing large data (images), is avoided? OR, do i need to have those nodes as nodelets to acheive this purpose?