Multiple roscores synchronize

asked 2014-11-13 08:54:32 -0600

jennifer
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If we have a group of rosnodes with a master core and another group of nodes with another roscore... If these set of rosnodes want to communicate with each other, will the different roscore time sync between them? If so, how?

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Thanks a lot.. :D

jennifer ( 2014-11-13 09:13:15 -0600 )edit

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answered 2014-11-13 09:08:50 -0600

Jbot

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You can try the packages FKIE or ROCON.

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answered 2014-11-13 09:10:52 -0600

Murilo F. M.
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I have been using multimaster_fkie for awhile now and it works very well with my setup.

You do not necessarily need to have the machines synchronised in time, but the result will be messages published with out-of-sync timestamps.

You should ensure the machines are synchronised in time, particularly if you are using TF.

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Can you provide and information on your use case or setup? My team is just starting to look at FKIE for multimaster. Any information would be appreciated. Thanks

kensley ( 2014-11-18 13:59:15 -0600 )edit

You need to run 2 nodes on each machine: master_discovery from package master_discovery_fkie, and master_sync from package master_sync_fkie. I created a launch file. Also, there is a GUI you can load by running the node node_manager from package node_manager_fkie. It's that simple!

Murilo F. M. ( 2014-11-19 09:14:42 -0600 )edit

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Multiple roscores synchronize

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