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is it possible to run and quit launch files from code inside a node?

asked 2015-02-15 06:55:03 -0600

Is there a way to run a launch file from code inside a node, and to stop one that has launched (as you would in a terminal window)

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answered 2015-08-27 02:55:25 -0600

I just noticed this which does what I need

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Could you actually run a launch file, or just one node like the example shows? (or is there an equivalent of rosrun roslaunch roslaunch args...?) Can you post example code?

lucasw gravatar image lucasw  ( 2016-01-20 17:33:19 -0600 )edit

I didn't try - I managed to do what I needed as an initial test launching and quiting individual nodes

nickw gravatar image nickw  ( 2016-01-21 14:27:21 -0600 )edit

answered 2015-02-15 09:18:00 -0600

Tom Moore gravatar image

I don't know if there's a ROS-prescribed way to run a launch file from within another ROS node. As for stopping all the nodes within a launch file, one way to do it is mark at least one of the nodes as required, e.g.,

<node pkg="rosbag" type="play" name="rosbagplay" args="test.bag" required="true"/>

If I put this in a launch file, then when rosbag exited after the bag file was done playing, all the nodes in that launch file would stop as well.

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Is it possible to shut down other (from which the given node is not being launched) launch files too ?

malharjajoo gravatar image malharjajoo  ( 2018-04-01 19:27:42 -0600 )edit

answered 2016-01-22 11:48:43 -0600

lucasw gravatar image

I've put my method into the answer of this similar question, though it is possibly prone to breaking if and when roslaunch internals are altered:

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Asked: 2015-02-15 06:55:03 -0600

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Last updated: Jan 22 '16