Hi David,

Yes, I believe it's all correct, in part because it totally works when *
actually* run remotely. But for reference, here's the relevant line of
machines.launch:

<launch>
<machine name="cpr-demo-01" address="cpr-demo-01" user="administrator"
ros-root="~/ros/ros"
ros-package-path="~/ros/stacks:~/ros-clearpath:~/umd-ros-pkg"
default="never" timeout="5.0" />
</launch>

Thanks!



On 13 September 2010 10:31, David Dröschel <droeschel@ais.uni-bonn.de>wrote:

> Hi Mike,
>
> have you set the ROS_PACKAGE_PATH with the ros-package-path attribute in
> the machine tag of cpr-demo-01?
>
> You have to do that if the ROS_PACKAGE_PATH of cpr-demo-01 is unequal
> the one from your desktop.
>
> David
>
>
>
>
> Mike Purvis wrote:
> > Hey,
> >
> > Up until now, we've been doing an awkward scheme of one roslaunch file
> > per machine, which has meant that they only ever have to launch local
> > nodes. However, I'm trying to clean it up to take advantage of
> > roslaunch's remote-start abilities.
> >
> > I have it mostly working, but there's one little annoyance:
> >
> > <launch>
> >   <include file="machines.launch" />
> >
> >   <group ns="clearpath/robots/default">
> >     <node pkg="joy" type="joy_node" name="joy_node" output="screen">
> >       <param name="dev" value="/dev/input/js0" />
> >     </node>
> >
> >     <node pkg="clearpath_horizon" type="joy.py" name="joy_horizon"
> > output="screen">
> >       <param name="turn_scale" value="1.2" />
> >       <param name="drive_scale" value="0.5" />
> >     </node>
> >
> >     <node pkg="clearpath_horizon" type="horizon.py" name="horizon"
> > machine="cpr-demo-01" respawn="true" output="screen">
> >       <!-- Type of commands given: velocity control v. output control -->
> >       <param name="velocity_control" value="1" />
> >
> >       <!-- Horizon data request frequencies -->
> >       <param name="data/differential_output" value="10" />
> >       <param name="data/system_status" value="10" />
> >       <param name="data/power_status" value="1" />
> >     </node>
> >   </group>
> > </launch>
> >
> > Now, this works great when I launch it on my developer desktop--- I
> > get a joy_node and a joy_horizon coming up locally, and horizon comes
> > up on the cpr-demo-01 machine, and I can joystick around our chassis.
> >
> > However, I like to be able to plug the joystick into the cpr-demo-01
> > machine and actually run it all from there, too. It seems like this
> > should be possible, but when I try it, the horizon comes up with a
> > Python include error--- it can't find roslib, of all things. This
> > error doesn't show when I run it remotely, and it's also fine if I
> > remove the machine="cpr-demo-01" part.
> >
> > Is this documented behaviour, or am I doing something wrong? It would
> > be really convenient if this could be made to work without having to
> > maintain separate files for whether the joystick is onboard the robot
> > or off-board.
> >
> > Thanks,
> >
> > Mike
> > ------------------------------------------------------------------------
> >
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> >
>
>
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