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I think that there's a "ROS way" to do this (if there is such a thing), or at least a couple of ROS ways. Instead of having your node start another node, why not just use topics, services, or actions?

For example, you can have the node that's solving the inverse kinematics (IK node) publish its status on a topic and the node that takes over subscribing to that topic. When the IK node publishes that it's task is complete, the next node gets the message and takes over.

I think that there's a "ROS way" to do this (if there is such a thing), or at least a couple of ROS ways. Instead of having your node start another node, why not just use topics, services, or actions?

For example, you can have the node that's solving the inverse kinematics (IK node) publish its status on a topic and the node that takes over subscribing to that topic. When the IK node publishes that it's task is complete, the next node gets the message and takes over.

This way will give you some extra flexibility in that you change swap out nodes and remap topics etc.