rosmaster crash with duplicated service

asked 2016-08-09 05:16:57 -0500

bulgrozer gravatar image

Hi,

I'm working on a simple service which has to be duplicated. I've developped a fault tolerance mecanism (Primary Back-Up Replication) using checkpointing to save the answer/state of a the first server and restore it to the second one. The rosmaster is launched on the first one's ECU (Raspberry Pi like).

My problem is in case my first ECU crash, the rosmaster crash and so i can't run my nodes on my second ECU without reloading them. So my question is :

  • Do I need to start the rosmaster on a third unit ?
  • Is there a way to "save" the graph of communication and nodes and reload it into the new rosmaster ?

Thank you in advance for your answer

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