search

fkie / multimaster_fkie

ROS stack with FKIE packages for multi-robot (discovering, synchronizing and management GUI)
BSD 3-Clause "New" or "Revised" License
268 stars 108 forks source link

Local and global topics/services #37

Closed ghost closed 8 years ago

ghost commented 8 years ago

I'm new to the multimaster concept.

I have a situation where I have multiple robots running local ros networks and would like to facilitate communication between these networks using ROS. Since each local network uses the same set of topics, the common topics have to be isolated and the topics/services that are needed for inter robot communication, have to be enabled.

Is this possible? Or is using namespace the only way to solve this?

atiderko commented 8 years ago

Hi,

the best way is to use namespaces, especially if you use tf. In simple cases you can also try to put topic/services into ignore lists (~ignore_nodes, ~ignore_topics, ~ignore_services or do_not_sync- new uncommented parameter for master_discovery and master_sync) to skip these while sync.

The multimaster_fkie package does not support automatic namespace creation.

ghost commented 8 years ago

Thanks! ignore_nodes is useful