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

[David Dröschel]

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 at ais.uni-bonn.de 
> <mailto:droeschel at 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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-- 
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