>> I’ve been using
>> foreign_relay for a number of months and it mostly works, but I’d like to
>> see first-class multi-master support in ROS and am willing to commit
>> development time towards it.
>
> Glad to hear it, what do you have in mind?
Sounds like multi-master is a potential SIG for Fuerte planning
(http://www.ros.org/wiki/fuerte/Planning). As Ken alluded, it'll
likely be hard to find the one-size-fits-all solution, but there would
be a lot of value in polishing up multi-master support for a couple of
common use cases.
brian.