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I think you can do it using launch files, but I never used it in the end

http://answers.ros.org/question/203154/is-it-possible-to-run-and-quit-launch-files-from-code-inside-a-node/

I think you can do it using launch files, ~~but~~ I never used it in the ~~end~~end, but it works for starting and stopping nodes programmatically (as long as it is one you previously launched programmatically)

http://answers.ros.org/question/203154/is-it-possible-to-run-and-quit-launch-files-from-code-inside-a-node/

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