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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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Masters are discovered but without the nodes #94

Closed Gil401 closed 5 years ago

Gil401 commented 5 years ago

Hi, I have 2 devices. After starting roscore on them both and a few of my nodes, I have executed the following:

Station Device:

rosrun master_discovery_fkie master_discovery _mcast_group:=224.0.0.1
rosrun master_sync_fkie master_sync __name:=station

Robot Device:

rosrun master_discovery_fkie master_discovery _mcast_group:=224.0.0.1
rosrun master_sync_fkie master_sync __name:=robot

rosservice call /master_discovery/list_masters

masters:

however when running rosnode list / rostopic list / rosservice list I do not see any data from the other device except the masters: rosnode list /master_discovery /rosout /robot /station

What am I missing?

atiderko commented 5 years ago

Hi,

you renamed master_sync node, thus it synchronized the remote master_sync too. Please remove __name:=station and __name:=robot or add it to ignore list:

rosrun master_sync_fkie master_sync __name:=station _ignore_nodes:=[/robot] rosrun master_sync_fkie master_sync __name:=robot _ignore_nodes:=[/station]

Gil401 commented 5 years ago

Hi Alexander,

Thank you for the quick response. Now it seems to work, however I do not see all the nodes when I am running rosnode list.

For example I have a launch file where I have a manager with 2 nodes in it:

<launch>
    <arg name="manager" default="indoor_device_manager_standalone_nodelet_station"/>
    <node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" output="screen"/>
    <node pkg="nodelet" type="nodelet" name="indoor_device_manager_station" args="load indoor_device_manager/IndoorDeviceManager $(arg manager)" required="true">
    </node>
    <node pkg="indoor_device_manager" name="station_topic_health_monitor" type="topic_hz.py" required="true">
    </node>

</launch>

but when I do rosnode list I see only /indoor_device_manager_standalone_nodelet_station (which is the name of the manager) Is there something I can do?

atiderko commented 5 years ago

Hi Gil401,

only topics and services can be registered on ROS-Master. If a ROS-Node does not contain any topics or services it is also not in the rosnode list. All topics of the nodelets are assigned to the nodelet-manager. On the origin ROS-Master the nodelets are listed because they subscribe the topic of type bond/Status.* This topic will not be synchronized to avoid broken nodelets. This is why you no see nodelets-nodes on remote (synchronized) master. But your system should work anyway. Is there any reason why you need to see remote nodes on local system? If you need to manage nodes in your multi-host system you can use node_manager of multimaster package.

*There are some other topics, which are also not synchronized. You can see them all in the output of master_sync.

Gil401 commented 5 years ago

Is there any reason why you need to see remote nodes on local system?

Yes, because I am monitoring the system and checking for certain nodes. Is there a way to get the nodes from the node_manager via an api / terminal?

Thank you very much!

atiderko commented 5 years ago

You can use the XML-RCP interface of master_dicovery: http://wiki.ros.org/master_discovery_fkie?distro=melodic

masterInfo() reports current state of ROS-master where master_discovery is running. By default it listens on port 11611.