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ROS does not allow you to change the master URI at runtime. The internal hooks to change the master URI, subscribe and publish topics to the new master don't exist.

If you want your node to communicate with different topics or a different ROS master at runtime, I suggest you take a look at some of the topic and multimaster tools that can be used to forward topics between different ROS masters:

http://wiki.ros.org/rosproxy
http://wiki.ros.org/foreign_relay
http://wiki.ros.org/multimaster
http://wiki.ros.org/topic_tools/relay

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