How to include remote machine "y.launch" and run it from local "x.launch"?

asked 2017-11-02 08:03:10 -0500

Ugnius Malukas
18 ●3 ●4 ●5 http://malukas.lt/

Cannot launch remote machine "launch" file from local machine. Is there a way to accomplish that?

<launch>
  <machine name="machine_y" address="192.168.1.130" env-loader="/opt/ros/fuerte/env.sh"/>
  <include file="/path/to/remote/y.launch" machine="machine_y"/> <!-- doesn't work -->
  <node pkg="package_y" name="package_y_name" machine="machine_y"/> <!-- works -->
</launch>

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answered 2017-11-02 09:11:24 -0500

l4ncelot

826 ●19 ●26 ●36

updated 2017-11-02 09:12:07 -0500

I don't know if it's somehow possible using only launch files but it should be possible with bash scripts and ssh. Assuming we have local_bash.sh, remote_bash.sh scripts with local.launch and remote.launch launch files. To run local.launch on local and at the same time remote.launch on remote machine I would do something like this.

local_bash.sh:

roslaunch ros_package local.launch
ssh user@hostname 'bash -s' < remote_bash.sh

This will run remote_bash.sh script on your local host.

remote_bash.sh would then look like this:

roslaunch ros_package remote.launch

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I thought that there is a way by using only launches. Thanks, though.

Ugnius Malukas ( 2017-11-03 06:29:41 -0500 )edit

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answered 2017-11-04 06:37:48 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

updated 2017-11-04 06:38:25 -0500

Cannot launch remote machine "launch" file from local machine.

Even though roslaunch can be used to start launch files on remote machines, resolving resources (ie: paths, packages, etc) is always done on the local machine.

The consequence of this is that your local machine must have the same workspace layout as your remote machine(s) (or at least: for the things that you are trying to start remotely), or roslaunch will not be able to find the launch file that you are trying to include (as it doesn't exist on your local machine).

See #q257152 and #q230688 for related questions and answers.

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How to include remote machine "y.launch" and run it from local "x.launch"?

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