Can nodelet optimize multiple subscriptions from other node?
Suppose we have following:
- ROS node, publishing on topic A
- 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!