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fkie / multimaster_fkie

ROS stack with FKIE packages for multi-robot (discovering, synchronizing and management GUI)
BSD 3-Clause "New" or "Revised" License
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losing connectivity #103

Closed Gil401 closed 5 years ago

Gil401 commented 5 years ago

Hi,

I am running Multimaster on 2 devices with the following commands: on 1:

rosrun master_discovery_fkie master_discovery _mcast_group:=224.0.0.1 rosrun master_sync_fkie master_sync __name:=station _ignore_nodes:=[/robot]

on 2:

rosrun master_discovery_fkie master_discovery _mcast_group:=224.0.0.1 rosrun master_sync_fkie master_sync __name:=robot _ignore_nodes:=[/station]

at the begging it seems to work, but after a few seconds I do not see the topics / nodes of the other device.

when invoking

rorsservice call /master_discovery/list_masters

I do see the other device.

Please assist. Thanks

atiderko commented 5 years ago

do you have nodes with same ROS name on robot and station?

Set the log level of master sync to DEBUG and see which nodes/topics are synchronized (set the parameter /master_sync/log_level to DEBUG to see what happens on start)

atiderko commented 5 years ago

I see now, you rename the master_sync node. In this case you have to add ALL names on ALL hosts to the ignore list. So it is better you do not rename master_sync!

Gil401 commented 5 years ago

so I need to simply run:

rosrun master_discovery_fkie master_discovery _mcast_group:=224.0.0.1 rosrun master_sync_fkie master_sync

what if I have more robots with same nodes?

atiderko commented 5 years ago

in ROS eco system you can not have two nodes with same name. So you need to launch your ROS nodes on each robot with a different namespace.