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Configuring a ROS running in docker to not be a ROS Master

asked 2023-03-21 10:12:16 -0500

Siddharth Bhurat gravatar image

I have a toyota HSR robot which is running ROS noetic in a docker container.

  1. I want to collaborate this robot with other robots by having my laptop as a ROS master for all the robots in the same network. For that I need to make the HSR Robot to not be a master. But since it is running ROS on docker, I dont know how to change the ROS master.

  2. If making HSR Robot to not be a master is not possible, then is there a way to use it in a multimaster mode. Because for that I need to install this package. And I am not able to do that, since it is running everything on a docker and I am not able to access anything. So I dont know how to install package there.

Any resources/references for collaborating HSR Robot with other HSR_Robot/other_robots will be really appreciated.

Thank you

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answered 2023-04-07 11:23:31 -0500

ruffsl gravatar image

For ROS 1, I wouldn't recommend running the master node off board the robot platform, as wifi network drops and node restarts can really throw a wrench into the system. You could install multimaster in a separate docker image, then push that image to the robot and use it to start a container there. You'll want to check how the other containers are attached to the network, my guess is via --net=host driver, so that your multimaster can connect to both the other containers, as well as IP addresses external to the robot. That said, I haven't used multimaster much, as it always seemed rather fragile.

You could try combining ROS 2 with ROS 1 using the ros1_bridge to link robots together. Then you could also control the white list of topics and interfaces to bridge across robots. I think this is similar to what clearpath does internally for their multi robot deployments. However, if you rely on a lot of custom HSR message types, you'd have to build the ros1_bridge from source:

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Asked: 2023-03-21 10:12:16 -0500

Seen: 82 times

Last updated: Apr 07