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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
271 stars 108 forks source link

One master and multiple master #153

Closed miku54 closed 3 years ago

miku54 commented 3 years ago

Hello, which is better to use this feature package to synchronize specific topics or to subscribe to host topics directly under the same master?

atiderko commented 3 years ago

Hi, it depends on your scenario, in a static scenario it is easier to just change the ROS_MASTER_URI than to install the multimaster package. However, if you have several robots and control panels, which one should host the roscore? If this changes, the environment variable must be adapted on all hosts. If the connection to the roscore is lost, no new nodes can be started. Then it makes sense to use the multimaster.

And once you have installed multimaster, I would always use it and not change the environment variables. Especially if you use the Node Manager to launch the ROS system.

miku54 commented 3 years ago

Thank you for your reply. I get it.