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For example, there is a launch file named "hector_height_mapping.launch" and located in the "rplidar_ros" package, after I start the launch file, the ros node name is "rplidarNode", then I start and stop it in the C++ code:

system("roslaunch rplidar_ros rplidar.launch");  //start

system("rosnode kill hector_height_mapping");    //stop

By the way, remember to new a thread, or the code would block and you cannot stop the node.

For example, there is a launch file named "hector_height_mapping.launch" "rplidar.launch" and located in the "rplidar_ros" package, after I start the launch file, the ros node name is "rplidarNode", then I start and stop it in the C++ code:

system("roslaunch rplidar_ros rplidar.launch");  //start

system("rosnode kill hector_height_mapping"); rplidarNode");              //stop

By the way, remember to new a thread, or the code would block and you cannot stop the node.

For example, there is a launch file named "rplidar.launch" and located in the "rplidar_ros" package, after I start the launch file, the ros node name is "rplidarNode", then I start and stop it in the ROS C++ code:

system("roslaunch rplidar_ros rplidar.launch");  //start

system("rosnode kill rplidarNode");              //stop

By the way, remember to new a thread, or the code would block and you cannot stop the node.