Can nodelet optimize multiple subscriptions from other node?

asked 2022-03-23 21:41:31 -0500

Koxa gravatar image

Suppose we have following:

  1. ROS node, publishing on topic A
  2. Nodelet manager B with several nodelets:
    • Nodelet B_1 subscribed to topic A
    • Nodelet B_2 subscribed to topic A
    • Nodelet B_3 subscribed to topic A

Will nodelet manager optimize message delivery in this case? I mean nodelet manager could have single subscription to topic A, and then deliver message using zero copy to nodelets B_1, B_2, B_3, thus each message on topic A will be transferred only once over network.

Or in this case each nodelet will have its own subscription to A and each message will be transferred 3 times to each nodelet?

Thank you!

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