Ok, I tried using the roslaunch.scriptapi but encountered a problem:

in my "parent node", I have something like this:
self.roslauncher = roslaunch.ROSLaunch()

self.roslauncher.start()

for i in range(0,10):

motor_node = roslaunch.Node(package = "sr_three_fingers_dynamixel_hand",

node_type="motor.py", name="dynamixel_motor_"+str(servo))

self.roslauncher.launch(motor_node)

However if in my spawn child nodes I have:

rospy.init_node( 'dynamixel_motor_'+str(motor_id) )

Then ros complains that the node is already initialized. (raise rospy.exceptions.ROSException("rospy.init_node() has already been called with different arguments: "+str(_init_node_args)))

If i comment the rospy.init_node then ros doesn't complain and the parent node seems to be starting properly, but I don't see my child node in the system. rosnode list return the parent node only.

Any idea of what I am doing wrong?

Cheers,

Ugo

On 26/08/10 17:02, Ugo Cupcic wrote:

 Thanks Ken.

On 26/08/10 16:33, Ken Conley wrote:

Multiple ways, yes.

Spawning a ros node is no different from just running a process. So
the standard Python subprocess module will work.

If you want to get fancier, there are two Python APIs for running
roslaunch within your own process:

 * roslaunch.scriptapi [1]
 * roslaunch_caller (unsupported)

[1]: http://www.ros.org/doc/api/roslaunch/html/roslaunch.scriptapi.ROSLaunch-class.html

On Thu, Aug 26, 2010 at 1:04 AM, Ugo Cupcic <ugo@shadowrobot.com> wrote:

 Hi all,

Is there a way to spawn multiple nodes directly from a python node?

Cheers,

Ugo

--
Ugo Cupcic         |  Shadow Robot Company | ugo@shadowrobot.com
Software Engineer  |    251 Liverpool Road |
need a Hand?       |    London  N1 1LX     | +44 20 7700 2487
http://www.shadowrobot.com/hand/              @shadowrobot

_______________________________________________
ros-users mailing list
ros-users@code.ros.org
https://code.ros.org/mailman/listinfo/ros-users

_______________________________________________
ros-users mailing list
ros-users@code.ros.org
https://code.ros.org/mailman/listinfo/ros-users

-- 
Ugo Cupcic         |  Shadow Robot Company | ugo@shadowrobot.com
Software Engineer  |    251 Liverpool Road |
need a Hand?       |    London  N1 1LX     | +44 20 7700 2487
http://www.shadowrobot.com/hand/              @shadowrobot