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I have a bunch of robots with a separate roscore running on each of them. Now I would like to connect from a C++ application to every robot and read its sensor values. I saw the rosmultimaster package which seems to provide a python API to do exactly what I want. But is there also a way to connect to more than one core at once with the C++ API?
You could relay some topics from one master to another master. A tool for doing that is somewhere in the WG repostiory:
https://code.ros.org/svn/ros/stacks/multimaster_experimental/trunk/foreign_relay
For instance, if you have one robot with master uri A and another one with master uri B, you can set up the relay by running the following command on A:
rosrun foreign_relay foreign_relay adv http://B:11311 /a/laser /laser
It will basically advertise the topic /a/laser on B.
Hello Daniel,
do you really need to run a different core for each robot or could you move toward one unique roscore running through your system of different machines?
The later solution is very easy to implement as the only step needed is seting the system variables ROS_IP and ROS_MASTER_URI on all your machines without having to modify any code. Check that page for more info.
Raph
Asked: 2011-05-04 05:08:23 -0600
Seen: 975 times
Last updated: May 04 '11
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