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I am trying to write a launch file which runs the nodes that are crated on a remote system named "turtlebot2" from my host computer "prasanna". When I run i get this error

This is my launch file:

<launch>
  <machine name="turtlebot2" address="10.0.10.28" ros-root="/opt/ros/electric/ros" ros-package-path="/opt/ros/electric/stacks" default="true" user="turtlebot2" password="turtlebot" >
  </machine>
  <node name="openni_tracker" pkg="openni_tracker" type="openni_tracker" respawn="true" output="screen" cwd="node" machine="turtlebot2"/>
</launch>

ERROR:

**prasanna@prasanna:~$ roslaunch launch launch_test.launch
... logging to /home/prasanna/.ros/log/705ad25e-888e-11e1-ac56-485d60f5f00e/roslaunch-prasanna-7286.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
ERROR: unknown machine [turtlebot2]
prasanna@prasanna:~$ roslaunch launch launch_test.launch
... logging to /home/prasanna/.ros/log/705ad25e-888e-11e1-ac56-485d60f5f00e/roslaunch-prasanna-7292.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://10.0.10.30:47129/
remote[10.0.10.28-0] starting roslaunch
remote[10.0.10.28-0]: creating ssh connection to 10.0.10.28:22, user[turtlebot2]
remote[10.0.10.28-0]: ssh connection created
SUMMARY
PARAMETERS
 * /rosversion
 * /rosdistro
MACHINES
 * turtlebot2
NODES
  /
    openni_tracker (openni_tracker/openni_tracker)
ROS_MASTER_URI=http://10.0.10.28:11311
core service [/rosout] found
error launching on [10.0.10.28-0, uri http://turtlebot2-laptop:56525/]: Name or service not known
Launch of the following nodes most likely failed: openni_tracker/openni_tracker**

"launch" is the name of the package in my host computer and I want to run openni_tracker node on the turtlebot2. If there is a mistake in the launch file please help me out!

I want to re-position the kinect on turtlebot to the top of it, instead of the default position. Will i get a proper map now ? or should I change some robot-model-parameters to achieve that? If so what all parameters and where?

Is there a topic that publishes the current pose of the turtlebot?

robot_pose_ekf/odom doesn't give the pose relative to the global frame. amcl_pose doesn't give the pose when the robot is stationary.

What should I do to get the robot pose when the robot is stationary? Should I get the value from robot_pose_ekf/odom and then use the transform from /odom to /map as given by the /tf topic???

We recently started working with a turtlebot using the ros tutorials for the same.

1. We do not know when it is switched on in full mode and when in passive mode or safe mode. Immediately after we switch on the iRobot Create, the red light flashes and there is a small beep and the green light comes on. But in a few seconds the green light goes off with another beep. This doesn't happen all the time, but very often. Also, the moment we switch on the Create, the kinect cable's led is ON. But only when the red light flashes, the led is on. After the beep, after the green light comes on, this kinect cable's LED goes OFF. And sometimes the output from minimal.launch says, "check if the Create is plugged in and powered on", when the connections are perfect and after i have turned the create on.

2. Will minimal.launch get the turtlebot service on by default? Because if I start the service and then launch minimal.launch, it says "shutdown request: New node registered with the same name."

3. Dashboard doesn't always work from the workstation. Sometimes it works:Sometimes not. It works fine on the turtlebot. On the workstation it says POWER SYSTEM ERROR. Though we do not know what that means. This also happens only sometimes.

4. Sometimes starting up minimal.launch powers the kinect. (May be the bot is pushed to full-mode). Sometimes the same thing happens with teleop. We are not always able to push it to full mode from the dashboard, which should work.

5. We still managed to calibrate the bot and build a map. The map was nowhere near the real room. Later we found out that when the actual bot turned 90degrees the bot on the map turned very less (about 45degrees). We manipulated the parameters odom_angular_scale_correction and gyro_scale_correction, but to no luck.

What we know for sure. 1. The network connection is perfect. For teleop and ssh work great. 2. The env variables, ROS_MASTER_URI and ROS_HOSTNAME are correctly set. 3. All mechanical connections on the turtlebot are correct.

Please help us out.