在程序中啟動node：
運(yùn)用python的subprocess
import subprocess
...
cmd = ["rosrun", "xx_package", "xx_node", "param:=value"]
node = subprocess.Popen(cmd)
殺死node：
調(diào)用subprocess的函數(shù)
node.terminate()
node.wait()
另外一種方式：
調(diào)用ROS提供的API
cmd = ["rosnode", "kill", "xx_node"]
terminate_node = subprocess.Popen(cmd)
terminate_node.wait()
