Ok, thanks. I'll take another look. Just to clarify, though:

1. Remote launch with the machine tag does work.
2. Local launch without the machine tag does work.
3. Local launch with the machine tag does *not* work.

It seems a bit bizarre that an issue with ~ paths would manifest itself as a
problem in the third case and not the first one. (The second case is
unaffected, since there is no machine tag.)

M.


On 13 September 2010 11:24, Ken Conley <kwc@willowgarage.com> wrote:

> Hi Mike,
>
> Given that this is a path issue (basically, ROS_ROOT isn't being set
> properly), David is probably on the right track with the ~ issue. If
> expanding it to the full path works, please let me know and I'll file
> a ticket.
>
>  - Ken
>
> On Mon, Sep 13, 2010 at 8:15 AM, David Dröschel
> <droeschel@ais.uni-bonn.de> wrote:
> > Hi Mike,
> >
> > Is it possible that the "~" is substituted on the local computer (by the
> > local user home)? I'm just guessing...
> >
> > I remember something like that when i was setting up our machines here
> > but i don't have access to them atm
> >
> > Perhaps you can give it a shot.
> >
> > David
> >
> > Mike Purvis wrote:
> >> 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
> >> <mailto: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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> >>     > ros-users@code.ros.org <mailto:ros-users@code.ros.org>
> >>     > https://code.ros.org/mailman/listinfo/ros-users
> >>     >
> >>
> >>
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> >>
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> >>
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> >>
> >
> >
> > --
> > David Droeschel, M.Sc.
> >
> > Autonomous Intelligent Systems Group
> > Computer Science Institute VI
> > University of Bonn
> > Römerstr. 164
> > 53117 Bonn, Germany
> > Phone: +49 (0)228 73-4434
> > Fax:   +49 (0)228 73-4425
> >
> >
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