How to ROS Launch from Existing Node
Hi all, I'm very new to ROS so I may be asking the wrong question, but here's a quick summary of the problem I'm trying to solve. I'm working on a project that has an existing ROS framework. A ROS Launch file starts up a number of nodes with a bunch of parameters and is working fine. There is also a separate python application that is used to test other parts of the system.
What I would like to accomplish is to tie the python application into the existing ROSpy framework that's running. I'm thinking I would need some sort of additional script that can convert between ROS and the application. It would need to expose an API to the application, but also be a ROS node and know how to publish messages.
This lead me to the question of how to launch these scripts. Ideally, I would want the py application to be launched by the user. Then this application would create an instance of this app-node converting class, which would then in turn create all the nodes that were originally created by the ROS launch file.
