代码中启动ros节点roslaunch和rosrun,代码启动节点与关闭节点，地图切换

                                                          roslaunch和rosrun,代码启动节点与关闭节点

py_slam_startros_在代码中启动ros节点roslaunch和rosrun

import subprocess
import rospy
import rosnode
 
class launch_demo:
    def __init__(self, cmd=None):
        self.cmd = cmd
 
    def launch(self):
        self.child = subprocess.Popen(self.cmd)
        return True
 
    def shutdown(self):
        self.child.terminate()
        self.child.wait()
        return True
 
if __name__ == "__main__":
    rospy.init_node('launch_demo',anonymous=True)
 
    launch_nav = launch_demo(["roslaunch", "pibot_simulator", "nav.launch"])
 
    launch_nav.launch()
 
    r = rospy.Rate(0.2)
    r.sleep()
 
    rospy.loginfo("switch map...")
    r = rospy.Rate(1)
    r.sleep()
 
    rosnode.kill_nodes(['map_server'])
 
    map_name = "/home/pibot/ros_ws/src/pibot_simulator/maps/blank_map_with_obstacle.yaml"
 
    map_node = subprocess.Popen(["rosrun", "map_server", "map_server", map_name, "__name:=map_server"])
 
    while not rospy.is_shutdown():
        r.sleep()

上面使用python代码启动了一个PIBOT模拟器的导航，然后5s后切换了一个地图

• 使用subprocess.Popen可以启动一个进程(roslaunch或者rosrun)
• 使用rosnode.kill_nodes可以杀死一个rosnode