I'm not sure if you need to un-init to stop and start ROS (for example, to
contact multiple masters, etc). The ros::init() function only processes
command line arguments.

There's some example code in wgtest_status_indicator that runs a persistent
node that can reacquire the ROS Master, and start and stop ROS.

https://code.ros.org/svn/wg-ros-pkg/stacks/wg_hardware_test/trunk/wgtest_status_indicator/src/nodes

Kevin


On Fri, Jan 7, 2011 at 4:26 AM, Dirk Thomas <dthomas@sim.tu-darmstadt.de>wrote:

> Hi,
>
> i would like to use multiple cycles of ros::init/ros::start/ros::shutdown
> without restarting the binary every time. Currently the ros::init function
> protects itself from multiple calls (using the bool g_initialized).
>
> I added/hacked an additional function ros::uninit() which currently just
> resets
> the bool to false. Multiple ros::init/ros::start/ros::shutdown/ros::uninit
> cycles are now working (without extensive testing).
>
> I suppose that the uninit-function needs to perform more cleaning and
> resetting.
>
> Are there any sideeffects i should be aware of?
> Can such a function be integrated into ROS (with a more comprehensive
> implementation than my one, of course)?
>
> Dirk
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