(Not) publishing topics across different machines

Hi,

I'm working on a robot that is remotely controlled by my computer (via a launch-script that defines different 'machines'). Messages are published and received by different nodes on different machines and the machines are connected by a local Wifi-network.

I am not sure if my available bandwidth is limiting the data transfer (or execution times) and since I don't need all messages on all topics I have the following question: Is it possible to define that only specific topics are published across multiple machines while keeping other topics only on one machine, "invisible" to others?

Thank you very much in advance!

Best, Max

Asked by maxb on 2016-10-25 13:36:55 UTC

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Answers

Short answer is yes. As far as I know, you can achieve this with the multimaster_fkie package. It allows you to have several ROS masters aware of each other, and enables you to configure in each one of these which topics you wish to synchronize and/or ignore.

E.g. in a multi robot system dispatched by a central task manager master, in which each unit has the same TF naming; it is a good idea to blacklist the TF topics from being synchronized with the central task manager master's multimaster.

Asked by joao.aguizo on 2022-05-26 06:53:23 UTC