Rospack Caching Failure

edit

I'm trying to run a custom version of move_base on our PR2. The code works fine elsewhere. When running move_base with a launch file or rosrun, however, it runs the standard version and not my version.

$ echo $ROS_PACKAGE_PATH
/home/dlu/ros:/opt/ros/electric/stacks

$ rospack find move_base
/home/dlu/ros/nav_experimental/move_base

I put a custom ROS_INFO message into the move_base code. And running the code directly from the directory works fine.

$ bin/move_base 
[ INFO] [1330639556.246247279]: Subscribed to Topics: base_scan_marking base_scan tilt_scan ground_object_cloud
[ INFO] [1330639556.266441874]: Subscribe Now!
[ INFO] [1330639556.267763437]: Requesting the map...

However, running using a launch file and/or rosrun does not work (instead running the old version).

$ rosrun move_base move_base 
[ INFO] [1330639542.607175443]: Subscribed to Topics: base_scan_marking base_scan tilt_scan ground_object_cloud
[ INFO] [1330639542.626603667]: Requesting the map...

Edit: rosrun move_base move_base works if the package is properly set in ~/.ros/rospack_cache, however, roslaunch resets the value in rospack_cache to the standard electric version.

Edit 2: I believe the problem lies in the fact that my launch file includes pr2.machine, which includes this line:

 <machine name="c1" address="c1" ros-root="$(env ROS_ROOT)" ros-package-path="$(env ROS_PACKAGE_PATH)"  default="true" />

I don't think my ROS_PACKAGE_PATH is being set in the correct place, thus explaining this problem and the tab-complete problem described below. I currently export it (with my modification) in .bashrc right after sourcing setup.bash. Is there a better place to set it?