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Hi, it may exists some better way but in a personnal project i used 2 ways to "determine if a (set of) node is ready" :

use rosnode ping if you just need to know if a "child node" is up. That should be easily pythonified if needed.
if you need to know that your child node is publishing something, you could wait to receive a message (eg. using waitForMessage)

Please, tell me if that not suit your needs! BR

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