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nodelet_or_node

Helper package for easy launch of a nodelet either standalone or in a manager.

This nodelet_or_node node allows launching nodelets either by loading them or by running them standalone. In this, it is similar to nodelet load and nodelet standalone from the nodelet package.

However, nodelet_or_node makes it easy to differentiate the load/standalone mode by just providing (or not) the nodelet manager name. This helps writing nice interfaces which easily allow the user to choose whether the node should run in a nodelet manager or standalone.

A nodelet loaded into a manager using nodelet_or_node can be unloaded using all standard ways for unloading nodelets.

Examples

In the following example, if the user supplies a non-empty value for the manager arg, then the nodelet is loaded into this manager. When no value is given, the nodelet is launched standalone.

choose.launch

<launch>
    <arg name="manager" default="" />
    <node name="test" pkg="nodelet_or_node" type="load" args="my_pkg/Nodelet $(arg manager)">
        <param name="param" value="0" />
    </node>
</launch>

standalone.launch

<launch>
    <node name="test" pkg="nodelet_or_node" type="load" args="my_pkg/Nodelet">
        <param name="param" value="0" />
    </node>
</launch>