How many robots can we connect to one master ?
Hi ROS community,
I want to know how many robots can we connect to one master ? or it depends only on computer performance ?
Thanks.
ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
Hi ROS community,
I want to know how many robots can we connect to one master ? or it depends only on computer performance ?
Thanks.
Asked: 2019-10-07 03:30:46 -0500
Seen: 171 times
Last updated: Oct 07 '19
alwaysOn camera parameter Gazebo
error while launching lslidar_c16
Install of the rospy/rosbag python libraries standalone not on Ubuntu
Lowest end computer that will run ROS and all its tools
Float32MultiArray in pub/sub example
ServiceServer declaration within a class
Edit encoding of sensor_msgs/Image message
How to make ros3djs respect the frame_locked marker message parameter?
You are correct. The number of robots you can connect is only limited by the resources on the computer hosting the master. Network bandwidth will most likely be the limiting resource.
To be more precise, it depend on the computer performance, the network bandwidth, but also the number of free TCP port, as each connection (topic) require a new port.
The number of free TCP port is the only "hard" wall for a lot of connection to the ros master, the other (PC perf and Network) can be increased (to infinite, if you have infinite budget).
But I never had problem with multi robot with a good computer and a good bandwidh (3 robot arm + sensors)
Related: #q305027.
And important to note: the "master" (ie:
roscore
) is not actually involved in data exchange between nodes. It only facilitates initial setup and configuration. As soon as nodes have setup connections (ie: subscriptions), the master is not needed nor active, so it cannot become a bottleneck.