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For the first revision of your project, I think launch files are appropriate; have a look at roslaunch

For my robot, I have a base launch file which runs the driver for my base and my sensors, and the kalman filter that I use to estimate position. All of my modes use this functionality.

For each mode, I have an additional launch file which runs the nodes for that mode.

Launch files can include one another as well, so if you have some functionality that is used by some modes, but not all, you can separate out those nodes into their own launch file, and include that launch file within each mode that needs it.

For even more things that you can do with roslaunch, have a look at the roslaunch tips for large projects