andrewlybarger's profile - activity

I'm quite certain that it is possible to run 4 or more turtlebots together, the question is does the stock turtlebot_node need to modified or the network/ros configuration. Right now all of the turtlebots are using a single ros master, which is running on my desktop machine.

I have 10 turtlebots (version 1, the white one) that I'm trying to operate on a wifi network (g wireless standard). Any three of them together work fine but as soon as I add a fourth the turtlebot_node starts throwing lots of error messages about not being able to read data from the iCreate properly and the system grinds to a halt. I switched it over to a wired network and got all 10 running great with a peak network bandwidth of 9KBps, which isn't really that much. Is there something specific to the turtlebot_node that struggles with message latency or wifi in general?

Right now my alternatives are:

1. rewrite the turtlebot_node to make it more tolerant of infrequent message
2. combine all the nodes on each turtlebot using nodelets
3. reorganize the system as a multi-master network, with one master on each turtlebot