Ok, thanks. I'll take another look. Just to clarify, though:<div><br></div><div>1. Remote launch with the machine tag does work.</div><div>2. Local launch without the machine tag does work.</div><div>3. Local launch with the machine tag does <i>not</i> work.</div>
<div><br></div><div>It seems a bit bizarre that an issue with ~ paths would manifest itself as a problem in the third case and not the first one. (The second case is unaffected, since there is no machine tag.)</div><div>
<br>
</div><div>M.</div><div><br><br><div class="gmail_quote">On 13 September 2010 11:24, Ken Conley <span dir="ltr"><<a href="mailto:kwc@willowgarage.com">kwc@willowgarage.com</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>
Given that this is a path issue (basically, ROS_ROOT isn't being set<br>
properly), David is probably on the right track with the ~ issue. If<br>
expanding it to the full path works, please let me know and I'll file<br>
a ticket.<br>
<font color="#888888"><br>
- Ken<br>
</font><div><div></div><div class="h5"><br>
On Mon, Sep 13, 2010 at 8:15 AM, David Dröschel<br>
<<a href="mailto:droeschel@ais.uni-bonn.de">droeschel@ais.uni-bonn.de</a>> wrote:<br>
> Hi Mike,<br>
><br>
> Is it possible that the "~" is substituted on the local computer (by the<br>
> local user home)? I'm just guessing...<br>
><br>
> I remember something like that when i was setting up our machines here<br>
> but i don't have access to them atm<br>
><br>
> Perhaps you can give it a shot.<br>
><br>
> David<br>
><br>
> Mike Purvis wrote:<br>
>> Hi David,<br>
>><br>
>> Yes, I believe it's all correct, in part because it totally works when<br>
>> /actually/ run remotely. But for reference, here's the relevant line<br>
>> of machines.launch:<br>
>><br>
>> <launch><br>
>> <machine name="cpr-demo-01" address="cpr-demo-01" user="administrator"<br>
>> ros-root="~/ros/ros"<br>
>> ros-package-path="~/ros/stacks:~/ros-clearpath:~/umd-ros-pkg"<br>
>> default="never" timeout="5.0" /><br>
>> </launch><br>
>><br>
>> Thanks!<br>
>><br>
>><br>
>><br>
>> On 13 September 2010 10:31, David Dröschel <<a href="mailto:droeschel@ais.uni-bonn.de">droeschel@ais.uni-bonn.de</a><br>
>> <mailto:<a href="mailto:droeschel@ais.uni-bonn.de">droeschel@ais.uni-bonn.de</a>>> wrote:<br>
>><br>
>> Hi Mike,<br>
>><br>
>> have you set the ROS_PACKAGE_PATH with the ros-package-path<br>
>> 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>
>><br>
>><br>
>><br>
>><br>
>> Mike Purvis wrote:<br>
>> > Hey,<br>
>> ><br>
>> > Up until now, we've been doing an awkward scheme of one<br>
>> roslaunch file<br>
>> > per machine, which has meant that they only ever have to launch<br>
>> 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<br>
>> 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<br>
>> comes<br>
>> > up on the cpr-demo-01 machine, and I can joystick around our<br>
>> 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<br>
>> 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<br>
>> robot<br>
>> > or off-board.<br>
>> ><br>
>> > Thanks,<br>
>> ><br>
>> > Mike<br>
>> ><br>
>> ------------------------------------------------------------------------<br>
>> ><br>
>> > _______________________________________________<br>
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>> ><br>
>><br>
>><br>
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>><br>
><br>
><br>
> --<br>
> David Droeschel, M.Sc.<br>
><br>
> Autonomous Intelligent Systems Group<br>
> Computer Science Institute VI<br>
> University of Bonn<br>
> Römerstr. 164<br>
> 53117 Bonn, Germany<br>
> Phone: +49 (0)228 73-4434<br>
> Fax: +49 (0)228 73-4425<br>
><br>
><br>
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</div></div></blockquote></div><br></div>