Use existing nodelet manager in ROS2
In ROS1, I had the 3 packages, 2 of them were nodelets and the remaining 1 was a subscriber node as shown in the diagram below:
It seems that ROS 1 nodelet is replaced by a unified component in ROS2.. Therefore, based on the composition package, I have redefined my package 2. It works but I have the following doubt?
In ROS1, we used one nodelet manager shared access packages. Is there any such way/rule of using the existing manager in another package?
My apologies for mixing two terms, i.e. nodelet and component.
In other words, is there any notion of
nodelet managerin ROS2? If not, then how do we expect zero-copy (similar tonodeletin ROS1)?