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My solution is to use a launch file to start all the relevant nodes, with the "terminator" node set to required="true". When the terminator node exits, it will trigger all of the other nodes to close if they are using things like ros::ok() to determine if they should keep running.

My solution is to use a launch file to start all the relevant nodes, with the "terminator" node set to required="true". When the terminator node exits, it will trigger all of the other nodes to close if they are using things like ros::ok() to determine if they should keep running.running. This only works when roscore has been started by this launch file.