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multimaster_fkie: default_cfg_fkie | master_discovery_fkie | master_sync_fkie | node_manager_fkie

Package Summary

Synchronize the local ROS master to the remote masters discovered by master_discovery_fkie node. The registration of topics and services is only perform by local ROS master.

multimaster_fkie: default_cfg_fkie | master_discovery_fkie | master_sync_fkie | node_manager_fkie

multi_master_fkie: default_cfg_fkie | master_discovery_fkie | master_sync_fkie | node_manager_fkie

Package Summary

Synchronize the local ROS master to the remote masters discovered by master_discovery_fkie node. The registration of topics and services is only perform by local ROS master.

multi_master_fkie: default_cfg_fkie | master_discovery_fkie | master_sync_fkie | node_manager_fkie

multimaster_fkie: default_cfg_fkie | master_discovery_fkie | master_sync_fkie | multimaster_msgs_fkie | node_manager_fkie

Package Summary

Synchronize the local ROS master to the remote masters discovered by master_discovery_fkie node. The registration of topics and services is only perform by local ROS master.

multimaster_fkie: default_cfg_fkie | master_discovery_fkie | master_sync_fkie | multimaster_msgs_fkie | node_manager_fkie

Package Summary

Synchronize the local ROS master to the remote masters discovered by master_discovery_fkie node. The registration of topics and services is only perform by local ROS master.

multimaster_fkie: default_cfg_fkie | master_discovery_fkie | master_sync_fkie | multimaster_msgs_fkie | node_manager_fkie

Package Summary

Synchronize the local ROS master to the remote masters discovered by master_discovery_fkie node. The registration of topics and services is only perform by local ROS master.

multimaster_fkie: default_cfg_fkie | master_discovery_fkie | master_sync_fkie | multimaster_msgs_fkie | node_manager_fkie

Package Summary

Synchronize the local ROS master to the remote masters discovered by master_discovery_fkie node. The registration of topics and services is only perform by local ROS master.

multimaster_fkie: default_cfg_fkie | master_discovery_fkie | master_sync_fkie | multimaster_msgs_fkie | node_manager_fkie

Package Summary

Synchronize the local ROS master to the remote masters discovered by master_discovery_fkie node. The registration of topics and services is only perform by local ROS master.

multimaster_fkie: default_cfg_fkie | master_discovery_fkie | master_sync_fkie | multimaster_msgs_fkie | node_manager_fkie

Package Summary

Synchronize the local ROS master to the remote masters discovered by master_discovery_fkie node. The registration of topics and services is only perform by local ROS master.

Overview

This package contains a node to synchronize the local ROS master to remote ROS masters discovered by master_discovery node. For synchronization the Master API will be used. Thereby the regitration of topics/services are performed only on the local ROS master. To obtain a complete synchronization of two ROS master one master_sync node in each "ROS system" have to be started.

The syncronization will be performed on each time the remote ROS master is changed. The change detection is done by the master_discovery node. To avoid multiple calls over unreliable connections e.g. WiFi, needed for a synchronization, the XML-RPC server of the master_discovery node is used to get the current state of the remote ROS master.

Note: in the current state the ROS Parameter server will be not synchronized.

Usage

Getting started

Run the master_discovery node first.

Run this node:

rosrun master_sync_fkie master_sync

The services and published topics of the master_discovery node are detected automatically!

Interface

Subscribed Topics

~changes (master_discovery_fkie/MasterState)
  • Description of the discovered ROS master

Services

~get_sync_info (master_discovery_fkie/GetSyncInfo)
  • The list with synchronized nodes and services

Subscribed Topics

~changes (multimaster_msgs_fkie/MasterState)
  • Description of the discovered ROS master

Services

~get_sync_info (multimaster_msgs_fkie/GetSyncInfo)
  • The list with synchronized nodes and services

Parameters

~interface_url (str, default: ) ~resync_on_reconnect (bool, default: True) ~resync_on_reconnect_timeout (float, default: 0) ~do_not_sync (list, default: []) ~ignore_hosts (array, default: []) ~sync_hosts (array, default: []) ~ignore_nodes (array, default: [/rosout, "/*master_sync* node", "remote /*master_discovery* node", "/*node_manager", /*zeroconf]) ~sync_nodes (array, default: []) ~ignore_topics (array, default: ['/rosout', '/rosout_agg']) ~ignore_publishers (array, default: []) ~ignore_subscribers (array, default: []) ~sync_topics (array, default: []) ~ignore_services (array, default: ['/*get_loggers', '/*set_logger_level']) ~sync_services (array, default: []) ~sync_topics_on_demand (boolean, default: False) ~ignore_type (array, default: ['bond/Status']) ~sync_remote_nodes (boolean, default: False)


2019-11-09 12:55