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Connect multiple Roscores to one Stage instance

asked 2013-11-10 08:57:58 -0600

pkohout gravatar image


i need to achieve a multi robot simulation in stage with several roscores. Is it possible to connect several roscores to one Stage instance ? So Roscore1 -> Robot1 Roscore2 -> Robot2 Like it works by the MobileSim simulator for rosaria.

And i have to run each roboter in a own roscore, one big roscore is no option

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Please explain why one roscore is not an option?

tfoote gravatar image tfoote  ( 2013-11-10 19:27:53 -0600 )edit

The robots have a very unreliable network connection, and each robot needs to work on its own because they lose connection to the system, and it might take a long time until they reconnect again.

pkohout gravatar image pkohout  ( 2013-11-10 23:12:13 -0600 )edit

If you have real robots how do you intend to use stage?

tfoote gravatar image tfoote  ( 2013-11-11 06:42:01 -0600 )edit

The development would be much faster (and may be easier) if we simulate the environment, so all developer can test their code if they want. Now we have bottelneck for testing code because we have just hardware for one robot system (but currently 3 different teams working on that system)

pkohout gravatar image pkohout  ( 2013-11-11 21:10:46 -0600 )edit

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answered 2013-11-12 19:30:23 -0600

tfoote gravatar image

Especially if you have limited robot time I would highly recommend you consider allowing testing with the hardware not in the loop using the simulation. For your use case with multiple teams

If you do want to continue to get 3 independent robots working with one master I recommend reading topics from the ROS MultiMaster SIG:

The most active multimaster implementation is the Robotics In Concert it's actively being developed. However the others implementations have proven useful for their designed use case.

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Asked: 2013-11-10 08:57:58 -0600

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Last updated: Nov 12 '13