[ros-users] roslaunch weirdness on PR2 basestation

[Jeremy Leibs]

Err, I apologize.  I meant:

10.68.1.1 pr2c1 pr2c1.hsi.gatech.edu
10.68.1.2 pr2c2 pr2c2.hsi.gatech.edu

Basically, forcing the addresses to resolve to the VPN addresses for
the robot that are otherwise already being forwarded to.

On Wed, Jul 21, 2010 at 1:44 PM, Jeremy Leibs <leibs at willowgarage.com> wrote:
> You could modify the hosts file on the basestation to include:
>
> 10.68.0.1 pr2c1 pr2c1.hsi.gatech.edu
> 10.68.0.2 pr2c2 pr2c2.hsi.gatech.edu
>
> On Wed, Jul 21, 2010 at 1:00 PM, Hai Nguyen <haidai at gmail.com> wrote:
>> That definitely sounds like it would cause this issue.  Is there a way
>> around so that the base station can perform remote launches on the
>> robot?
>>
>> On Jul 21, 2010, at 1:58 PM, Ken Conley wrote:
>>
>>> The implementation of the local machine check is in roslaunch.core:78
>>> . It looks up the address for the machine name, then compares that
>>> against the IPs for the local machine.
>>>
>>> - Ken
>>>
>>> On Tue, Jul 20, 2010 at 2:39 PM, Hai Nguyen <haidai at gmail.com> wrote:
>>>> Hi,
>>>>
>>>> I am unable to launch nodes on the PR2 from the base station but I am
>>>> able to launch nodes from the base station to any other computers in
>>>> our lab.  In the sample launch file below, if I change
>>>> "skynet.hsi.gatech.edu" to "pr2c1.hsi.gatech.edu" then then roslaunch
>>>> does not even try to ssh to the PR2 to launch (no messages saying
>>>> "creating ssh connection to some.machine.name" in the console).  Is
>>>> roslaunch doing some fancy tricks to figure out whether the provided
>>>> address is on the same machine?  If so, it seems something like that
>>>> might fail on the base station where some of the "local addresses"
>>>> are
>>>> PR2 VPN tunnels.
>>>>
>>>> <launch>
>>>>  <machine name="mymachine" address="skynet.hsi.gatech.edu"   <!--
>>>> does not work if I change this to pr2c1.hsi.gatech.edu or
>>>> pr2c2.hsi.gatech.edu -->
>>>>           ros-root="/opt/ros/cturtle/ros"
>>>>           ros-package-path="/opt/ros/cturtle/stacks:/u/haidai/svn/
>>>> wg-ros-pkg:/u/haidai/svn/gt-ros-pkg"
>>>> />
>>>>
>>>>  <node name="r_posture" pkg="teleop_controllers" type="posture.py"
>>>> args="r_cart elbowupr" machine="mymachine"/>
>>>>  <node name="l_posture" pkg="teleop_controllers" type="posture.py"
>>>> args="l_cart elbowupl" machine="mymachine"/>
>>>> </launch>
>>>>
>>>>
>>>> --
>>>> Hai Nguyen
>>>> CS, Robotics
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>>>>
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