How to run certain launch files within nodes?

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Hi snuzero,

I hope you have found a solution by now but I thought I would post an answer if case anyone else comes looking.

Adding the following to your launch file should do the trick.

<launch>
    <group if="$(arg foo)">
        <include file="$(find pkg)/launch/launch_name.launch"/>
    </group>

    <!-- The stuff you want to run in all cases -->
</launch>

In the included launch file, add your SLAM nodes.

Wiki on the include tag: http://wiki.ros.org/roslaunch/XML/inc...

If you want to start nodes dynamically, I would recommend launching them anyway but add a dynamic parameter to them which will only activate them when set. I.e. set up the node to periodically check for the given parameter, when set, do something but keep checking. This should allow you, or another node, to activate it using the rosparam server.