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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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Discover ROS-Masters across multiple subnets on one host #132

Closed markusschoen closed 3 years ago

markusschoen commented 3 years ago

I want to synchronize ROS-Cores on a network with three machines, two of them are connected to the third on two separate network interfaces. I created a different subnetwork for both hosts, e.g. 192.168.1.0, 192.168.2.0. When running the master_discovery I can only connect to one subnetwork at a time using rosrun fkie_master_discovery master_discovery _interface:=192.168.1.0. When I don't specify the interface, the hosts cannot find each other. I tried running two master_discovery nodes, one on each local subnetwork, but that doesn't work. Is it possible to configure the master_discovery_node to listen to both subnetworks? Or is there another possibility to make it work?

atiderko commented 3 years ago

Discovering: if you run master_discovery on C without _interface-parameter it listens on all interfaces but the mutlicast messages for dicovering are send only to default route or route for multicast messages. You can fix the discovery by setting _robot_hosts=[A,B] to send unicast discovery messages. (Also on A/B hosts _robot_hosts=[C])

Synchronization: if I understand it correctly you have machine A, B wich are connected to C on two separate network interfaces. C is not a router => A and B can not communicate => ROS-Topics on A and B can be not connect to eachother.

markusschoen commented 3 years ago

I got it using _robot_hosts. Thank you very much!