Multiple roslisp nodes in a process

[130s]

Migrated from https://code.ros.org/trac/ros/ticket/2896
Reported by: bhaskara Owned by: bhaskara
Priority: major
Last modified ago: Jan 2011

---

This is a possible feature for diamondback or eastern box. See the discussion at http://www.ros.org/wiki/roslisp/Reviews/2010-07-16%20API%20Review.

[digikar99]

Is this the same as nodelets - seems so to me; should I open a separate issue if not?

[gaya-]

@digikar99 nodelets is not just for "running multiple ROS nodes in different threads in one process", which this issue is about. Nodelets also allow for efficient message passing between the different nodes of the same process. If you want efficient zero-copy message passing, open a new issue. If you only care about running multiple nodes in one REPL image, this issue is all you need.

...I personally am not going to put effort into implementing this. When I need multiple lisp nodes in my system, I just compile myself an executable (with add_lisp_executable) and run it in a terminal, in addition to my REPL image. One can also start two *inferior-lisp* processes in Emacs and have the other node run there. I've done that too, works pretty well. My lisp nodes usually publish with very low frequency, so I never bothered with the efficient message passing.