Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

I want one ROS app to communicate multiple ROS controllers. Example?

masters

asked 2017-09-26 13:43:19 -0500

rosnutsbolts
3 ●5 ●6 ●8

I want one ROS app to communicate multiple ROS controllers. Need example since I am sure someone has already done this.

Basic ros::init (argc,argv,name,options) seems to read the environment flag for ROS_MASTER_URI.

So the other ros::init API must solve the problem, but can I get a complete example of special remappings like __name, __master, __ns, etc. that would handle multiple ROS masters? After each init I would then cache the node handle. And, what is this remapping list ?

And could I pass the ROS_MASTER_URI. as a remapping without calling the basic ros::init and relying on the shell environment variables?

TIA.

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2017-09-27 02:23:47 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

updated 2017-09-27 02:29:34 -0500

No, afaik this is not possible: there is a 1-to-1 mapping between nodes and processes in ROS1 as most important data structures are singletons / global.

Invoking ros::init(..) multiple times will not do what you want it to.

In ROS 2 this is different (ie: multiple nodes in a single process is expressly supported), but even there it will most likely require some magic with partitioning and other tricks.

Edit: could you maybe clarify what it is that you want to exactly? I'm not sure I understand what "I want one ROS app to communicate multiple ROS controllers" means.

It sounds like you're implying a client-server relationship between the master and any ROS nodes, but that doesn't exist.

edit flag offensive delete link

add a comment

Question Tools

1 follower

Stats

Asked: 2017-09-26 13:43:19 -0500

Seen: 105 times

Last updated: Sep 27 '17

I want one ROS app to communicate multiple ROS controllers. Example? edit

1 Answer

Question Tools

Stats

Related questions

I want one ROS app to communicate multiple ROS controllers. Example?