[ros-users] Question about <machine> tag in roslaunch

[David Dröschel]

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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