How to setup ROS for multi-robot domains (roscores, namespaces for nodes, tf frames)
Please help in writing up a ROS best practice.
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Please help in writing up a ROS best practice.
For simulation you have a very complete answer here about how to manage node namespaces and tf issues.
Working with real robots makes it harder. I suggest using a roscore in each robot, so that all data is private to each robot. In order to share certain topics, you can use packages such as ros-rt-wmp, which provides a wireless communication protocol that propagate selective topics to other roscores.
Asked: 2011-11-07 11:40:44 -0500
Seen: 1,085 times
Last updated: Sep 21 '12
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