roslaunch nodes / launch files only available on remote machine?

asked 2021-02-10 02:23:47 -0500

Rufus
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Substitution args are currently resolved on the local machine. In other words, environment variables and ROS package paths will be set to their values in your current environment, even for remotely launched processes

Is there any way to use roslaunch to launch nodes or launch files that are only available on a remote machine?

I've checked this solution but it doesn't seem to be working (nor is it supposed to work).

Comments

I don't believe there is a supported way.

I've seen some hacks with Docker images, dummy pkgs and launch-prefix, but it's not officially supported.

gvdhoorn ( 2021-02-10 02:29:06 -0500 )edit

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answered 2021-02-10 03:13:50 -0500

Rufus
1083 ●45 ●102 ●89

updated 2021-02-10 03:28:07 -0500

Assuming host has ssh key access to remote, I accomplished this with the following:

Host machine launch file:

<launch>
    <node pkg="local_pkg" type="remote_bringup.sh" name="remote_bringup"/>
</launch>

Host machine remote_bringup.sh

#!/usr/bin/env bash

trap 'ssh remote@remote "pkill roslaunch"' INT TERM
ssh remote@remote "~/bringup.sh"
wait

Remote machine bringup.sh

#!/bin/bash

export ROS_MASTER_URI=http://host_machine:11311
export ROS_IP=remote_machine
nohup /opt/ros/install/env.sh roslaunch remote_pkg normal.launch &

The script properly catches SIGINT, SIGTERM and forwards it to the remote machine's roslaunch

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Comments

Yes, that's similar to one of the work-arounds I mentioned.

Remote machine bringup.sh

#!/bin/bash
source /opt/ros/melodic/setup.bash
source /opt/ros/install/setup.bash
export ROS_MASTER_URI=http://host_machine:11311
export ROS_IP=remote_machine
nohup roslaunch remote_pkg normal.launch &

Couldn't you use /opt/ros/install/env.sh as a prefix for roslaunch remote_pkg normal.launch?

Seems much simpler.

gvdhoorn ( 2021-02-10 03:16:30 -0500 )edit

@gvdhoorn TIL, thx for the tip :D

Rufus ( 2021-02-10 03:28:31 -0500 )edit

@gvdhoorn Any workaround for windows host machine and ubuntu remote machine?

billnava ( 2022-04-16 04:35:11 -0500 )edit

Couldn't you still use SSH? There are clients for Windows (as well as servers).

gvdhoorn ( 2022-04-16 06:04:37 -0500 )edit

How to accomplish this as at startup? Let's say, the host runs a script that starts the roslaunch file after the startup automatically. We need to make sure that the remote machine is up if we will execute ssh remote@remote "~/bringup.sh". What would be the trick to catch this?

asaglam ( 2023-06-15 09:04:33 -0500 )edit

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roslaunch nodes / launch files only available on remote machine?

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