program_runner.py

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#!/usr/bin/env python
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import os
import roslib
roslib.load_manifest('starmac_templates') # change this to your package name
import rospy
from starmac_roslib.timers import Timer
# Message imports:
# Make sure corresponding packages are listed as dependencies in package manifest!
from std_msgs.msg import Bool, Float64

class ProgramRunner(object):
    """
    ROS node to run an arbitrary program. Useful in launch files, e.g.:
    
    <node pkg="starmac_tools" type="program_runner.py" name="run_watch_df" args="watch -n 2 df -h" launch-prefix="xterm-e"/>
    """
    def __init__(self):
        # Remember that init_node hasn't been called yet so only do stuff here that
        # doesn't require node handles etc.
        pass

    def start(self):
        rospy.init_node('program_runner')
        self.init_timers()
        rospy.spin()
        
    def init_timers(self):
        self.runprog_timer = Timer(rospy.Duration(1/10.0), self.runprog_timer_callback, oneshot=True)
        
    def runprog_timer_callback(self, event):
        myargv = rospy.myargv()[1:]
        cmd = " ".join(myargv)
        rospy.loginfo('Executing command: ' + cmd)
        retval = os.system(cmd)
        msg = 'Program terminated with exit status %d' % retval
        rospy.loginfo(msg)
        rospy.signal_shutdown(msg)
        
if __name__ == "__main__":
    self = ProgramRunner()
    self.start()