Publish or subscribe to another roscore/master

asked 2021-02-10 14:42:10 -0500

azerila
25 ●30 ●35 ●38

updated 2021-02-10 14:42:20 -0500

Say we have two roscores one with URI1 and another with URI2. We have a code running in a cpp file in URI1 where given a condition we want to publish a message but to obtained from a subscriber in URI2.

Similarly, if we have a subscriber running in URI1, we want to to only obtain messages that are published to that topic but within the codes that are running in URI2.

For example in a code that is running under URI of "http://localhost:"11311":

realtime_tools::RealtimePublisher<std_msgs::string> publisher_;
publisher_.unlockAndPublish("http://localhost:"11312")

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answered 2021-02-19 00:03:16 -0500

Morgan
521 ●4 ●7 ●11 http://morganquigley.com

ROS 1 is designed to run with a single roscore. You can play various games to make nodes from one roscore talk to another roscore but I wouldn't recommend it, since that can go off the rails quickly.

To exchange data between nodes from different roscore instances, I would suggest using "something else" as the bridge. I would first suggest trying ROS 2 as the "something else" bridge protocol, but you could also try any number of things in this role (depending on the message load), including web services of various kinds, various IoT protocols, "raw" DDS, etc. Doing this in the general case is hard (see the eProsima Integration Service as one example) and the potential payoff of hand-crafted vs general-purpose translation depends on how much data you want to push around, how many datatypes, how frequently those datatypes change, etc.