Advice on isAlive per nodelet

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Hi Guys,

I am looking for the best practice on monitoring my nodelets - making sure they are alive and publishing. I have a robot that works with many nodelets that all interact with topics and services.

At first I have thought of creating my own base class that will inherit from nodelet::Nodelet and in it will create a publisher that will keep publishing the name of the nodelet to a subscriber in a monitoring nodelet.

Are there any other / better options you are familiar with?

Thank you!