What is the ROS way to start/pause/shutdown nodes from within other nodes?

asked 2020-05-22 17:40:46 -0500

Dragonslayer gravatar image

Iam looking for the best practice model to control nodes start/pause/shutdown with c++.

Use-cases:

  • Separating move_base, navigation, localization and manipulation.

  • Switching between localization nodes to achieve higher precision.

It seems that tf would be the biggest problem, as map -> odom -> base_link would get interrupted bringing all related nodes down as well.

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