def METHOD_NAME(klampt_robot_model):
    global ros_initialized
    if not ros_initialized:
        ros_initialized = True
        rospy.init_node('klampt_sim')
        #launch a controller to publish the simulation time to ROS, PLUS
        #the robot's controller
        c = controller.MultiController()
        c.launch(RosTimeController())
        c.launch(RosRobotController(klampt_robot_model))
        return c
    #just launch the robot's controller, some other RosTimeController has been
    #launched before
    return RosRobotController(klampt_robot_model)