Figure out if nodelets can allow stuff to be more efficient

[mjsobrep]

There is a lot of data passing around on the robot using standard transport methods, especially image transport going to the webrtc stuff. Some of these can run as nodelets. Using nodelets should be explored to see if we can decrease CPU overhead and latency.

[mjsobrep]

there is a webrtc nodelet: https://github.com/RobotWebTools/webrtc_ros/blob/develop/webrtc_ros/src/webrtc_ros_server_nodelet.cpp

[mjsobrep]

This definitely shows that the realsense cameras can use a nodelet system: https://github.com/IntelRealSense/realsense-ros/blob/88f73074ba00c7826c9e48249b33237b54d78ea5/realsense2_camera/launch/rs_camera.launch

https://github.com/IntelRealSense/realsense-ros/blob/88f73074ba00c7826c9e48249b33237b54d78ea5/realsense2_camera/launch/rs_rgbd.launch

[mjsobrep]

Having trouble with the realsense nodelet. Posted issue here: IntelRealSense/realsense-ros#1069