[ros-users] launching all nodes in included launch file on specified machine
kadir
kadirfu at gmail.com
Fri Feb 11 19:13:17 UTC 2011
Hi guys,
I'm not sure if it exists in ROS, but in YARP we can specify which
module/process runs in which machine and with what configuration as follows:
<application>
<name>Test grabbers</name>
<dependencies>
<port>/root</port>
</dependencies>
<module>
<name>yarpdev</name>
<parameters>--device grabber --subdevice test_grabber --name
/test1</parameters>
<node>icub3</node>
<tag>test-grabber1</tag>
</module>
<module>
<name>yarpdev</name>
<parameters>--device grabber --subdevice test_grabber --name
/test2</parameters>
<node>icub3</node>
<tag>test-grabber2</tag>
</module>
<module>
<name>yarpview</name>
<parameters>--name /view1 --x 0 --y 10 --synch</parameters>
<node>icub11</node>
<tag>view1</tag>
</module>
<module>
<name>yarpview</name>
<parameters>--name /view2 --x 320 --y 10 --synch</parameters>
<node>icub11</node>
<tag>view2</tag>
</module>
<connection>
<from>/test1</from>
<to>/view1</to>
<protocol>tcp</protocol>
</connection>
<connection>
<from>/test2</from>
<to>/view2</to>
<protocol>tcp</protocol>
</connection>
</application>
This file explains how an application should be launched, similar to the
launch files in ROS. Nodes are the network nodes(PCs) and other stuff is
already self-explanatory.
You can see how cluster-management is done in YARP,
http://eris.liralab.it/wiki/Cluster_management here .
Hope, this helps you in your discussion...
-Kadir-
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