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ROS2 runtime launch of nodes

ros2
dashing

asked 2019-12-08 13:56:25 -0500

georgy
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Hi! I have a need to run ROS nodes from other ROS nodes at runtime. Composition look like that I need. But it using C++ and rclcpp. My nodes are written in Python. Does ROS2 have ways to run nodes at runtime from other nodes for python? Thanks!

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answered 2019-12-08 14:06:23 -0500

gvdhoorn
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updated 2019-12-08 14:08:19 -0500

Managed and life-cycle nodes are currently not supported in Python, as far as I know. See also #q328772 -- I don't believe the situation has changed.

The Features Status page seems to confirm this:

Composition of node components at compile-, link- or dlopen-time: Currently only in C++.

It might be possible to load ROS 2 Python nodes at runtime using some Python 'tricks', but it would not seem to be officially supported at this point.