<launch>
  <!-- Frequently changed public params-->
  <param name="max_speed" value="30.0" />
  <param name="event" value="3" />

  <!-- One group per computer. This is not a standard, but this makes the overall structure better-->
  <group name="tegra_a_launch">
    <machine name="tegra_a" address="10.42.0.28" env-loader="/opt/ros/kinetic/env.sh" user="nvidia" password="nvidia"/>

    <include file="/path/to/file/on/local/machine/isam.launch" >
      <arg name="machine" value="tegra_a" />
    </include>
    <include file="/path/to/file/on/local/machine/isam.launch" >
      <arg name="machine" value="tegra_a" />
    </include>
    <include file="/path/to/file/on/local/machine/isam.launch" >
      <arg name="machine" value="tegra_a" />
    </include>
    <include file="/path/to/file/on/local/machine/isam.launch" >
      <arg name="machine" value="tegra_a" />
    </include>
    <include file="/path/to/file/on/local/machine/isam.launch" >
      <arg name="machine" value="tegra_a" />
    </include>
    <include file="/path/to/file/on/local/machine/isam.launch" >
      <arg name="machine" value="tegra_a" />
    </include>
  </group>

  <group name="tegra_b_launch">
    <machine name="tegra_b" address="10.42.0.29" env-loader="/opt/ros/kinetic/env.sh" user="nvidia" password="nvidia"/>

    <include file="/path/to/file/on/local/machine/object_detection.launch" >
      <arg name="machine" value="tegra_b" />
    </include>
    <include file="/path/to/file/on/local/machine/am.launch" >
      <arg name="machine" value="tegra_b" />
    </include>
    <include file="/path/to/file/on/local/machine/isam.launch" >
      <arg name="machine" value="tegra_b" />
    </include>
    <include file="/path/to/file/on/local/machine/isam.launch" >
      <arg name="machine" value="tegra_b" />
    </include>
    <include file="/path/to/file/on/local/machine/isam.launch" >
      <arg name="machine" value="tegra_b" />
    </include>
    <include file="/path/to/file/on/local/machine/isam.launch" >
      <arg name="machine" value="$(machine tegra_b)" />
    </include>
  </group>
</launch>





<launch>
  <node machine="$(arg machine)" name="planning_spline" pkg="r18dv_path_planning" type="planning_spline" />
  <node machine="$(arg machine)" name="planning_spline" pkg="r18dv_path_planning" type="planning_spline" />
  <node machine="$(arg machine)" name="planning_spline" pkg="r18dv_path_planning" type="planning_spline" />
  <node machine="$(arg machine)" name="planning_spline" pkg="r18dv_path_planning" type="planning_spline" />
</launch>