[ros-users] launching all nodes in included launch file on specified machine

koen buys buys.koen at gmail.com
Thu Feb 10 15:21:31 UTC 2011

On 8 February 2011 08:48, Ken Conley <kwc at willowgarage.com> wrote:
> On Mon, Feb 7, 2011 at 11:34 PM, koen buys <koen.buys at mech.kuleuven.be> wrote:
>> On 7 February 2011 18:08, Ken Conley <kwc at willowgarage.com> wrote:
>>> Hi Dan,
>>> If you declare a machine tag as a default, it is only active for nodes
>>> that are evaluated after it.  That enables the sort of behavior you
>>> describe, I think.
>>> In general, I want to redo the machine configuration (and am open to
>>> others willing to contribute).   It's not nearly as powerful as it
>>> needs to be.
>>>  - Ken
>> What changes do you have in mind? (I'm currently using it a lot)
> The original design didn't really pan out.  I didn't really understand
> how more complex roslaunch systems would be constructed, so I
> speculated and missed.  The goal was to enable decoupling of machines
> and nodes, but the resulting system was more static than intended.
> In particular, some ideas to redo this:
>  * decouple node/machine config even more, e.g. read from machine
> configurations onto the Parameter Server

I still don't see clearly how this should happen, could you detail more?

>  * be able to apply a machine configuration in the include, e.g. Dan's
> suggestion and also [1]

this is also a feature that would prove it's use in our case.

>  * enable defining machine names w/o requiring machines to be declared

only based on hostnames could be handy, taking the user and the same
ROS env variables to all
machines it's executed on (this is typically the case in our lab)

> I'd be open to a complete rethink about how machines are specified.
> We attempted to do this before Box Turtle, but ran out of runway and
> had too short of time to come to a consensus.   The Parameter Server
> idea is a bit of a tangent, but the hope there is to be more
> declarative about the machines used in the system so that more tools
> can take advantage (e.g. roswtf, "rostop").
> I'd love help on this.  Thoughts?
>  - Ken
> [1]: https://code.ros.org/trac/ros/ticket/2598
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