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| 2012-07-04 22:12:01 -0500 | asked a question | How does ROS handle messages between 3 or more nodes across 2 machines? Hey, I am working on a robot that creates a node on one computer to capture and transmit (through ros messages) an image (Node 1). The image is sent to two other nodes. One node is on a separate computer (connected via wi-fi) which also runs the rosmaster (Node 2). The third node is on the same computer as the image capture node (Node 3). My question is: How is the image message transmitted to each node. Does the image get sent to the computer with the rosmaster and redistributed to the listening nodes (Node 1->Master->Node 3 and Node 2)? Or is the messaging system more dynamic in that messages go directly to listening nodes(Node 1-> Node 2 and Node 1->Node 3)? The reason this matters is because of the delay involved in wireless transmission to the rosmaster and then back to the transmitting computer to be consumed by node 3. Also the processing overhead of sending and receiving extra messages is undesirable. Thank you, Tim |
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