Roslaunch machine tag on include

edit

If anyone is still looking for an answer, I think currently the most elegant solution is:

<launch>
        <include file="local_nodes.launch" />

        <group>
            <machine name="remote_machine" address="1.2.3.4" default="true" />
            <include file="remote_nodes.launch" />
        </group>
</launch>

Tested with ROS Kinectic on Ubuntu 16.04.

Edit: Apparently the machine tag doesn't apply to a specific group, but to any nodes/includes that come after it. So the order in which the tags are defined is important!

I've found a way and tested it in ROS-Indigo:

1. The Problem:

   the <node>-tag contains an attribute machine to set the machine on wich the node should run.

   If you want to include a launch-file with the <include>-tag and in this launchfile are some <node>-tags, include didn't provide a machine-Attribute for easy passing this information -> so normally only static launchfiles are possible.

2. Solution

   Pass the machine with an argument through the <include>-tag!

Here my version:

<include file=/path/to/my/launchfile.launch>
      <arg name="machine" value="the_machine" />
 </include>

and here the launchfile.launch:

<launch>
 <arg name="machine" />     
 <node pkg="mypkg" name="mypkgname" machine="$(arg machine)">
</node>
</launch>

Arguments are discribed here