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

[Ken Conley]

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 at 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 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
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