recall multiple ROS nodes in one main cpp ROS node

edit

I am not really sure what you want, but I think you should have a look at actions. Actionlib This allows a node to request another node to solve a task or run an algorithm. In your case one node could tell another one which waypoint was reached and that the node should now start to compute and publish the estimated pose.

What @NEngelhard said is true, but if I understand your question correctly, you might also go this way:

• make UAV reach a waypoint. Once it reached it, post info about it on a topic
• in the other node (the one responsible for sensor readings), subscribe to that topic and register a callback function. As soon as the first node published to that topic, that callback function would be executed.

It is possible but messy using terminal command:

rosrun navigation waypoints
sleep 45
rosnode kill waypoints
rosrun navigation waypoints
sleep 45
rosnode kill waypoints

if you put those line of code in a terminal file, you can run it and it will perform your node every 45 seconds.

• mkdir ~/bin
• put your line of code inside a simple file, let's say waypoint
• chmod +x waypoint
• export PATH=$PATH:~/bin in your ~/.bashrc
• then in another terminal just type waypoint