Hi, I'm developing a node that can handle and switch my robot into different tasks like: map_building/navigation_point_planning(create a file for intermediate stops for navigation)/fully auto navigation/auto charging/etc.

That node has to start and close several launch files for different tasks and handle save/open/read/write files like map file and handle rosservice like map_server.

Is there any good solution for developing the node like that?

Thank you!