Hello there!<br><br>I don&#39;t know if I&#39;m in time to help, but I&#39;ll still try!<br><br>The only way of doing it that comes to mind right now is using the system call from C (I guess there must be a similar function in python too, sorry I&#39;m not much of a python guy as of now :p)<br>
<br>So I think you can do what you say with something like:<br><br>if(condition)<br>   system(&quot;rosrun package node&quot;);<br><br>Then the node itself should do the work it has to do, then finish. From your message I don&#39;t know if what you want is that the program that ran the system call should also be the one that kills that new node.<br>
<br>As for a particular ROS function that runs a node itself, I&#39;ve been looking for one too but I can&#39;t seem to find it. If there&#39;s one I would very much like to hear from it :D<br><br>Hope to have helped you. Cheers!<br>