Hi guys,

I'm not sure if it exists in ROS, but in YARP we can specify which
module/process runs in which machine and with what configuration as follows:

<application>
  <name>Test grabbers</name>
   <dependencies>
      <port>/root</port>
   </dependencies>
 
  <module>
     <name>yarpdev</name>
     <parameters>--device grabber --subdevice test_grabber --name
/test1</parameters>
     <node>icub3</node>
     <tag>test-grabber1</tag>
 </module>
 
 <module>
     <name>yarpdev</name>
     <parameters>--device grabber --subdevice test_grabber --name
/test2</parameters>
     <node>icub3</node>
     <tag>test-grabber2</tag>
 </module>
 
 <module>
     <name>yarpview</name>
     <parameters>--name /view1 --x 0 --y 10 --synch</parameters>
     <node>icub11</node>
     <tag>view1</tag>
 </module>
 
 <module>
     <name>yarpview</name>
     <parameters>--name /view2 --x 320 --y 10 --synch</parameters>
     <node>icub11</node>
     <tag>view2</tag>
 </module>
 
 <connection>
  <from>/test1</from>
  <to>/view1</to>
  <protocol>tcp</protocol>
 </connection>
 
 <connection>
  <from>/test2</from>
  <to>/view2</to>
  <protocol>tcp</protocol>
 </connection>
</application>

This file explains how an application should be launched, similar to the
launch files in ROS. Nodes are the network nodes(PCs) and other stuff is
already self-explanatory.

You can see how cluster-management is done in YARP, 
http://eris.liralab.it/wiki/Cluster_management here .

Hope, this helps you in your discussion...

-Kadir-
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