Looks like maybe any binding to localhost is a bad idea here, but localhost is the default and yes, the master and slave run on localhost so its not like its a totally illegitimate URI, except that no one can find you from outside. Probably end up running DNS. ROSCOE needs multiple Pi's and you cant resolve the nodes on the other local 'robot net' by name without it. Since we are stuck with DHCP address assignment (like the Parrot ARDrone does) you cant rely on a regular IP address to put in your server startup bind declarations and a design goal is to use unmodified Parrot's. After that I can bind to ROS_HOSTNAME or perform the equivalent action in CommandLineLoader.