ROS进二阶学习笔记（3） - programmatic way to start/stop a roslaunch

ROS进二阶学习笔记（3） - programmatic way to start/stop a roslaunch

Sometimes, we need to start/stop a ros .launch file/ ros node in a programmatic way, especially when we bring in the SMACH method to handle our applications.
Here are some threads in answers.ros.org web, and I summarised.

Just share what I've done. to be Generous. Specify this source if you need to repost/quote. thx~

First of first:

You have two requirments: Starting a node or a launch file:
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To Start a Node:

   1. roslaunch api:
   http://wiki.ros.org/roslaunch/API%20Usage

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To Start a Launch file:

=== 1. subprocess ===

  subprocess module may be the first choose to start/stop a roslaunch process in programmatic way. 
  The subprocess module allows you to spawn new processes, connect to theirinput/output/error pipes, and obtain their return codes. This module intends toreplace several older modules and functions: