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You need to set ROS_MASTER_URI as Martin said. See also http://www.ros.org/wiki/ROS/Tutorials/MultipleMachines

You need to set ROS_MASTER_URI as Martin ~~said.~~ said, but you may also need to set ROS_HOSTNAME. See ~~also http://www.ros.org/wiki/ROS/Tutorials/MultipleMachines~~http://www.ros.org/wiki/ROS/Tutorials/MultipleMachines for a full tutorial.

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