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It is totally normal to write a node subscribing to data published from a bag. For your case, I suggest you do the following steps to make sure you have the correct set up:
base_scan
rostopic echo /base_scan
. If you don't see any data after running this command, that means something wrong with your multi-machine setup. I suggest you fix this by following http://wiki.ros.org/ROS/NetworkSetuproslaunch
, do remember to add output="screen"
flag.