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It sounds like your network isn't set up properly. In particular, due to the way networking is set up on the PR2, and due to the fact that it's doing remote launches for all of the nodes that run on the secondary computer, you absolutely should not be setting ROS_IP on your PR2.
Instead, you should make sure that any machines on your network can resolve the PR2's DNS names (presumably pr1043 and pr1043s) to the IP addresses that are configured in /etc/robot-forward.conf on the basestation.
For more information, take a look at the Basestation Setup Tutorial for an overview of how to set up your basestation, and Chapter 12 of the PR2 Manual for a deeper description of how the network setup on the PR2 works.
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