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Transfert specific topics from an ROS master to another

asked 2015-01-19 20:28:43 -0600

milorenus gravatar image

Hi all! i was working with two computers using the same ROS master as described at this it is working well but the problem is that i want to transfer only some specific topics and not all topics. since the two packages i am using in each computer publish on tf, i have problem while recording the bag file. can someone suggest a better way to do it? what i mean is that i run ROSCORE in each of two machines(computers) and i send the topics that i wanted from a master to another.

PS: i was about to use the foreign_relay package but it seems it is not possible to download it(if someone could give me the link to download it, that would be perfect :D)

Thanks! all help will be welcome.

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Usually the two tf publishers should not interfere, it's very common to have a huge amount of tf broadcasters. Could you describe a bit more want your issue is with this?

Wolf gravatar image Wolf  ( 2015-01-20 01:24:33 -0600 )edit

Note that for tf it is very important that clocks of both machines are in sync so make sure there is an NTP connection between both comuters...

Wolf gravatar image Wolf  ( 2015-01-20 01:25:12 -0600 )edit

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answered 2015-01-20 03:37:03 -0600

There are a few implementations of Multimaster functionality out there, but none has really reached the status of being "the recommended implementation". Other examples beyond the one @ahendrix mentioned are:

If you google for "multimaster ros" you'll also find other material, such as the Multimaster SIG group

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Thank you for the answer, can you give me a quick explain of how to use the topic_proxy? that would be very helpful to me.

milorenus gravatar image milorenus  ( 2015-01-20 22:40:18 -0600 )edit

The README at github has a complete example. Have you tried that?

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2015-01-26 07:37:23 -0600 )edit

Thanks for the help but i figured out how to deal with it using the foreign relay package, even though it is not the best solution. Keep it up :)

milorenus gravatar image milorenus  ( 2015-01-26 19:15:13 -0600 )edit

answered 2015-01-20 03:06:11 -0600

ahendrix gravatar image

multimaster_experimental has moved to the Willow Garage github account:

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I have two computer running each of them rosmaster and also they can ping each other by name. but when i run "rosrun foreign_relay adv /talker http://ivc-lab:11311" it seems not working. do you any idea why?

milorenus gravatar image milorenus  ( 2015-01-20 22:57:44 -0600 )edit

Sorry; it's been a few years since I used foreign_relay, so I don't remember any of the details. The only advice I can give is to inspect the lists of topics and nodes very carefully, using tools like rostopic list, rostopic info, rosnode list and rosnode info.

ahendrix gravatar image ahendrix  ( 2015-01-21 10:15:02 -0600 )edit

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Asked: 2015-01-19 20:28:43 -0600

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Last updated: Jan 20 '15