Paddy, the ROS package that runs padnet, consists of 7 nodes:
During development and testing we manually started all nodes using:
ros2 run paddy <name-of-node>
In Byobu, a terminal multiplexer, this looks something like this:
This would probably be a bit of a hassle in production. ROS 2 of course has a more elegant way of launching nodes . This is a possible improvement.