Is there a way to automatically run a node using/inside a C++/Python program? Say some event happened and I want to run this node, then another event happened and I want to close the node. Or perhaps a launch file?
Originally posted by Homer Manalo on ROS Answers with karma: 475 on 2011-04-03
Post score: 0
This similar question I asked a while back might help you out.
http://answers.ros.org/question/501/spawn-and-kill-nodes-from-nodessmach
Originally posted by Miguel Prada with karma: 1071 on 2011-04-03
This answer was ACCEPTED on the original site
Post score: 3
A ROS node is just an executable, so you can run (and kill) it as you run any other executable from your program (for C++ see man system or man popen). The main problem might be, that ros stuff that is setup in your bashrc (e.g. the environment variables ROS_PACKAGE_PATH and ROS_MASTER_URI) are not available. In that case you might be successful running a bash to interpret your command. You may need to run it as interactive shell "-i" to make sure it executes .bashrc. So altogether something like system("bash -i -c roslaunch somepackage somefile.launch") should work. To kill a node you could use rosnode kill [node] started in the above way.
Originally posted by Felix Endres with karma: 6468 on 2011-04-03
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Post score: 4