Looks awesome. A few quick questions, just to help everyone understand how the capabilities of this system relate to Concert and fkie_multimaster:
- Do you handle prefixing/deprefixing TF frames for headers?
- For fields like Odometry::child_frame_id?
- When you rate-limit topics like tf and joint_state, do you aggregate "full" snapshots, or is it a message-level throttle?
- Do you handle machine discovery?
- If so, is it using avahi or some other mechanism?
- How dependent are you on the network's DNS infrastructure?
- How much provision has been made for Gazebo simulation of multi-robot scenarios?
- If any, does the user create multiple local roscores on different ports, or do you simulate all on the same roscore as Gazebo?
- Can I simulate lossy connection between my simulated bots?
It's possible some of this is covered in your docs, but I didn't see it on a quick first pass.
Mike