Revision history [back]

Setting our offboard computer as ROS Master seems not to be a good solution, because it would send all of the topics, and this may cause serious network delay.

I think the ROS Master is only responsible for setting up the initial peer-to-peer connection between a publisher/subscriber when calls are made to advertise/subscribe, then the communicating nodes send and receive messages directly over TCP. Therefore, you should only have to think about topics published by nodes on the Raspberry Pi and subscribed to by nodes on the offboard computer or vice-versa, not all of the topics in your whole system.