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2016-01-11 03:22:21 -0500 asked a question One big subscriber vs. multiple small subscribers?

I'm using rospy.

I have several nodes that need camera image and point cloud.

each of them needs to get the rgb image and point cloud in real time.

I'm thinking about 2 structures

  1. Create one node that subscribes image and overwrites them into jpg file. And Create another node that subscribes point cloud and overwrites them into psd file. Nodes open files

  2. Put 2 subscribers to every nodes.

which is better(speed, synchronization)?
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