Additionally, we can use the same attribute to attach the node to diagnosis tools. For example, we can run our program through valgrind (see http://valgrind.org for further information) to detect memory leaks using memcheck and perform profiling analysis using callgrind. Contrary to attaching to gdb, we do not need to start xterm:

<launch> 
  <node pkg="chapter3_tutorials" type="example1" 
  name="example1" output="screen" 
  launch-prefix="valgrind"/> 
</launch>