launch a node within another node

Question

Hi All,

I have two nodes: A and B implemented in C++. Now I want Node A to be launched (by the program, not by users' input in the terminal) within the execution of Node B that is launched by users in the terminal. Is there a ROS way to do this? Or should I just encode a shell command in B's source code to launch A, like executing a shell command in C++ programs?

Thanks,

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Originally posted by HZ on ROS Answers with karma: 76 on 2011-09-09

Post score: 1

Answer 1

The usual ROS way is running them both from a roslaunch script.

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Originally posted by joq with karma: 25443 on 2011-09-09

This answer was ACCEPTED on the original site

Post score: 3

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Original comments

Comment by tfoote on 2011-09-10:
This will bring up A and B at the beginning, and then B can designed to idle until it is contacted, thus not providing significant overhead. This also has the advantage that it decreases issues like latency at startup.