Transfert specific topics from an ROS master to another

asked 2015-01-19 20:28:43 -0500

milorenus
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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 ( 2015-01-20 01:24:33 -0500 )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 ( 2015-01-20 01:25:12 -0500 )edit

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answered 2015-01-20 03:37:03 -0500

Stefan Kohlbrecher

24361 ●173 ●299 ●444 https://www.energy-rob...

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:

ROCON Multimaster
topic_proxy (We use that and it works for us)
multimaster_fkie

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 ( 2015-01-20 22:40:18 -0500 )edit

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

Stefan Kohlbrecher ( 2015-01-26 07:37:23 -0500 )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 ( 2015-01-26 19:15:13 -0500 )edit

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answered 2015-01-20 03:06:11 -0500

ahendrix

47576 ●179 ●367 ●662 http://namniart.com/

multimaster_experimental has moved to the Willow Garage github account: https://github.com/willowgarage/multi...

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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 foreign_relay.py adv /talker http://ivc-lab:11311" it seems not working. do you any idea why?

milorenus ( 2015-01-20 22:57:44 -0500 )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 ( 2015-01-21 10:15:02 -0500 )edit

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Transfert specific topics from an ROS master to another

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