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Where is roscore in ROS2?

asked 2020-05-05 08:49:42 -0600

anonymous user


updated 2020-05-05 12:07:53 -0600

Where actually Rosmaster runs? How it is replaced in ros2?

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You tagged this ros2, but ROS 2 does not have a Master any more.

Please clarify.

gvdhoorn gravatar image gvdhoorn  ( 2020-05-05 08:58:36 -0600 )edit

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answered 2020-05-05 14:01:27 -0600

tfoote gravatar image

There is no roscore in ROS 2. It used a decentralized discovery mechanism instead.

Please take some time to read up about ROS 2. There are a lot of resources available on the main ROS 2 page.

I recommend reading through the documents linked from the Learn More Section.

It has design articles, differences from ROS 1 and ROS 2, and links to dozens of talks about ROS 2 that you can listen to from ROSCon as far back as 2014.

We're happy to have you keep asking questions but please try to be a little bit more complete in how you ask your question. Link to related documentation that you're looking for clarification to or where you're starting. As well as any other questions and answers that you've already read to try to find your answer.

We have a guide to asking questions here:

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answered 2020-05-05 13:09:06 -0600

asobhy gravatar image

There is no roscore because there is no master anymore. Ros2 uses peer to peer communication which creates basically a mesh network, so nodes can talk directly to other nodes without relying on a master.

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Perhaps also interesting: #q287470.

gvdhoorn gravatar image gvdhoorn  ( 2020-05-05 13:56:57 -0600 )edit

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Asked: 2020-05-05 08:49:42 -0600

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Last updated: May 05 '20