a

robomaster_pi/launch_node.py

+import rclpy
+from rclpy.node import Node
+from rclpy.subscription import Subscription
+from std_msgs.msg import String
+from subprocess import Popen
+from concurrent.futures import ThreadPoolExecutor
+
+class LaunchNode(Node):
+
+    def __init__(self):
+        super().__init__("launch_node")
+
+        # Subscribe to the launch_node topic
+        self.subscription = self.create_subscription(
+            String, "launch_node", self.on_message, 10)
+
+        # Create a dictionary to store the launched processes
+        self.launched_processes = {}
+
+        # Create a thread pool
+        self.thread_pool = ThreadPoolExecutor(max_workers=10)
+
+    def on_message(self, msg):
+        # Get the launch command and name from the message
+        name = msg.name
+        command = msg.command
+
+        # If the launch command is "kill", send a SIGINT signal to the process with the given name
+        if command == "kill":
+            if name in self.launched_processes:
+                os.kill(self.launched_processes[name], signal.SIGINT)
+                del self.launched_processes[name]
+        else:
+            # Otherwise, launch the process with the given command
+            self.thread_pool.submit(self.launch_process, name, command)
+
+    def launch_process(self, name, command):
+        # Launch the process
+        process = Popen(command)
+        self.launched_processes[name] = process
+
+def main():
+    rclpy.init()
+    node = LaunchNode()
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
\ No newline at end of file

setup.py

@@ -20,6 +20,7 @@ setup(
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
+            "launch_node =robomaster_pi.launch_node:main"
             "cmd_vel_combiner = robomaster_pi.cmd_vel_combiner:main",
             "map_update = robomaster_pi.map_update:main",
             "command_executer = robomaster_pi.command_executer:main",