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<p class=MsoNormal><span style='font-size:12.0pt'>I have a large system with
many nodes for specific purposes. At any given time, many nodes do not
need to be running. I would like to be able to start a node from my
master rospy code when it determines it needs that node up. I think
actually launching the node is as easy as an os.system call. However, I would
like to interface with the newly started node, and would like it if I did not
have to list every package in the master’s manifest. Basically, I
would like to take a string names for a package / node / etc., then at runtime
load it into my manifest, then be able to set up a publisher and subscriber to
it.<o:p></o:p></span></p>
<p class=MsoNormal><span style='font-size:12.0pt'><o:p> </o:p></span></p>
<p class=MsoNormal><span style='font-size:12.0pt'>Here are some questions.<o:p></o:p></span></p>
<p class=MsoListParagraph style='margin-left:21.0pt;text-indent:-.25in;
mso-list:l0 level1 lfo1'><![if !supportLists]><span style='font-size:12.0pt'><span
style='mso-list:Ignore'>1.<span style='font:7.0pt "Times New Roman"'>
</span></span></span><![endif]><span style='font-size:12.0pt'>Has anyone done
this type of thing before?<o:p></o:p></span></p>
<p class=MsoListParagraph style='margin-left:21.0pt;text-indent:-.25in;
mso-list:l0 level1 lfo1'><![if !supportLists]><span style='font-size:12.0pt'><span
style='mso-list:Ignore'>2.<span style='font:7.0pt "Times New Roman"'>
</span></span></span><![endif]><span style='font-size:12.0pt'>Do you have any
input on best practices?<o:p></o:p></span></p>
<p class=MsoListParagraph style='margin-left:21.0pt;text-indent:-.25in;
mso-list:l0 level1 lfo1'><![if !supportLists]><span style='font-size:12.0pt'><span
style='mso-list:Ignore'>3.<span style='font:7.0pt "Times New Roman"'>
</span></span></span><![endif]><span style='font-size:12.0pt'>It seems like
part of the answer is some sort of standard interface (or a standard interface
to determine what the actual interface to that node is). Any ideas on
this?<o:p></o:p></span></p>
<p class=MsoListParagraph style='margin-left:21.0pt;text-indent:-.25in;
mso-list:l0 level1 lfo1'><![if !supportLists]><span style='font-size:12.0pt'><span
style='mso-list:Ignore'>4.<span style='font:7.0pt "Times New Roman"'>
</span></span></span><![endif]><span style='font-size:12.0pt'>Is there anything
more elegant that a bunch of eval() statements (to turn string names into
message types)?<o:p></o:p></span></p>
<p class=MsoListParagraph style='margin-left:21.0pt;text-indent:-.25in;
mso-list:l0 level1 lfo1'><![if !supportLists]><span style='font-size:12.0pt'><span
style='mso-list:Ignore'>5.<span style='font:7.0pt "Times New Roman"'>
</span></span></span><![endif]><span style='font-size:12.0pt'>What would I need
to do to load a package into my manifest at runtime? Do the dependencies
in a manifest simply get turned into paths in the PYTHONPATH?<o:p></o:p></span></p>
<p class=MsoNormal><span style='font-size:12.0pt'><o:p> </o:p></span></p>
<p class=MsoNormal><span style='font-size:12.0pt'>Thanks,<o:p></o:p></span></p>
<p class=MsoNormal><span style='font-size:12.0pt'>-Ben<o:p></o:p></span></p>
<p class=MsoNormal><span style='font-size:12.0pt'><o:p> </o:p></span></p>
<p class=MsoNormal><span style='font-size:12.0pt'>Ben Axelrod</span><span
style='font-size:12.0pt'><o:p></o:p></span></p>
<p class=MsoNormal><span style='font-size:12.0pt'>Research Scientist</span><span
style='font-size:12.0pt'><o:p></o:p></span></p>
<p class=MsoNormal><span style='font-size:12.0pt'>iRobot Corporation</span><span
style='font-size:12.0pt'><o:p></o:p></span></p>
<p class=MsoNormal><span style='font-size:12.0pt'>8 Crosby Drive, Mail Stop 8-1</span><span
style='font-size:12.0pt'><o:p></o:p></span></p>
<p class=MsoNormal><span style='font-size:12.0pt'>Bedford, MA 01730</span><span
style='font-size:12.0pt'><o:p></o:p></span></p>
<p class=MsoNormal><span style='font-size:12.0pt'>(781) 430-3315 (Tel)<o:p></o:p></span></p>
<p class=MsoNormal><span style='font-size:12.0pt'>(781) 960-2628 (Fax)</span><span
style='font-size:12.0pt'><o:p></o:p></span></p>
<p class=MsoNormal><span style='font-size:12.0pt'><a
href="mailto:ofitch@irobot.com"><span style='color:windowtext'>baxelrod@irobot.com</span></a></span><span
style='font-size:12.0pt'><o:p></o:p></span></p>
<p class=MsoNormal><o:p> </o:p></p>
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