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If your nodes themselves do not need to know about the status of other nodes, but you just want to make sure that if one node dies then the whole system stops, then roslaunch will do what you want. For each node in your launch file, set the required attribute (see http://wiki.ros.org/roslaunch/XML/node#Attributes) to true. Then, if any of your nodes die, roslaunch will kill all the others and stop your system.