Are local amcl messages affected by local network issues when in peer-to-peer mode

asked 2019-11-10 16:06:50 -0600

Tiz gravatar image

Hi All,

I have two (ubuntu 14.04, ros-kinetic) laptops connected in ah-hoc mode (P2P). My question is, if I have 2 turtlebots sending each other localisation data using multimaster-FKIE, but the ad-hoc connection is poor or messages are not getting through. Because of the way FKIE synchronizes and discovers nodes does that mean that the amcl callback function on the host computer will also start failing to receive its own pose messages. Unfortunately, I no longer have access to the 2nd turtlebot so I cannot check this. If anyone has tested this or understands the ROS callback function and how FKIE works it would be great to hear your thoughts.

I do know that in normal circumstances, not using FKIE and having a single ros-master, as long as the ros-master has access to the turtlebot base it will continue receiving the local amcl pose messages in the callback function (even with poor communication).

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