Hi David,<div><br></div><div>Yes, I believe it's all correct, in part because it totally works when <i>actually</i> run remotely. But for reference, here's the relevant line of machines.launch:</div><div><br></div>
<div><div><span class="Apple-style-span" style="font-size: x-small;"><font class="Apple-style-span" face="'courier new', monospace"><launch></font></span></div><div><span class="Apple-style-span" style="font-size: x-small;"><font class="Apple-style-span" face="'courier new', monospace"><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" /></font></span></div>
<div><span class="Apple-style-span" style="font-size: x-small;"><font class="Apple-style-span" face="'courier new', monospace"></launch></font></span></div></div><div><br></div><div>Thanks!</div><div><br></div>
<div><br><br><div class="gmail_quote">On 13 September 2010 10:31, David Dröschel <span dir="ltr"><<a href="mailto:droeschel@ais.uni-bonn.de">droeschel@ais.uni-bonn.de</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">
Hi Mike,<br>
<br>
have you set the ROS_PACKAGE_PATH with the ros-package-path attribute in<br>
the machine tag of cpr-demo-01?<br>
<br>
You have to do that if the ROS_PACKAGE_PATH of cpr-demo-01 is unequal<br>
the one from your desktop.<br>
<br>
David<br>
<div><div></div><div class="h5"><br>
<br>
<br>
<br>
Mike Purvis wrote:<br>
> Hey,<br>
><br>
> Up until now, we've been doing an awkward scheme of one roslaunch file<br>
> per machine, which has meant that they only ever have to launch local<br>
> nodes. However, I'm trying to clean it up to take advantage of<br>
> roslaunch's remote-start abilities.<br>
><br>
> I have it mostly working, but there's one little annoyance:<br>
><br>
> <launch><br>
> <include file="machines.launch" /><br>
><br>
> <group ns="clearpath/robots/default"><br>
> <node pkg="joy" type="joy_node" name="joy_node" output="screen"><br>
> <param name="dev" value="/dev/input/js0" /><br>
> </node><br>
><br>
> <node pkg="clearpath_horizon" type="joy.py" name="joy_horizon"<br>
> output="screen"><br>
> <param name="turn_scale" value="1.2" /><br>
> <param name="drive_scale" value="0.5" /><br>
> </node><br>
><br>
> <node pkg="clearpath_horizon" type="horizon.py" name="horizon"<br>
> machine="cpr-demo-01" respawn="true" output="screen"><br>
> <!-- Type of commands given: velocity control v. output control --><br>
> <param name="velocity_control" value="1" /><br>
><br>
> <!-- Horizon data request frequencies --><br>
> <param name="data/differential_output" value="10" /><br>
> <param name="data/system_status" value="10" /><br>
> <param name="data/power_status" value="1" /><br>
> </node><br>
> </group><br>
> </launch><br>
><br>
> Now, this works great when I launch it on my developer desktop--- I<br>
> get a joy_node and a joy_horizon coming up locally, and horizon comes<br>
> up on the cpr-demo-01 machine, and I can joystick around our chassis.<br>
><br>
> However, I like to be able to plug the joystick into the cpr-demo-01<br>
> machine and actually run it all from there, too. It seems like this<br>
> should be possible, but when I try it, the horizon comes up with a<br>
> Python include error--- it can't find roslib, of all things. This<br>
> error doesn't show when I run it remotely, and it's also fine if I<br>
> remove the machine="cpr-demo-01" part.<br>
><br>
> Is this documented behaviour, or am I doing something wrong? It would<br>
> be really convenient if this could be made to work without having to<br>
> maintain separate files for whether the joystick is onboard the robot<br>
> or off-board.<br>
><br>
> Thanks,<br>
><br>
> Mike<br>
</div></div>> ------------------------------------------------------------------------<br>
><br>
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<br>
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</blockquote></div><br></div>