You can launch any number of foreign relays from a launch file. Here is
a line from one launch file I was working with:

<node name="trigger_foreign_relay" pkg="foreign_relay" type="foreign_relay.py" args="sub /trigger $(env FOREIGN_MASTER)" respawn="true"/>

If I recall, I had to tweak foreign_relay to make this work. The foreign relay here should do the trick:
https://code.ros.org/svn/wg-ros-pkg/trunk/stacks/dance_demo/foreign_relay

On Thu, 2010-07-08 at 15:56 +0100, Pedro Sousa wrote:
> Hello everyone
> 
> 
> I am working with Gonçalo with ROS and our mobile platform (Roombas
> and Eeepc on top) and I am following this conversation about
> multi-robot communication. Like Blaise said the foreign_relay_node was
> a great way of sharing information between robots. However, this
> approach is good when the initialisation of the node is made directly
> on the console or giving the parameters inside the code.
> 
> 
> I was trying to go a bit further and make it for multi robot. However,
> it wasn't easy for me and with some "bad hacks" I was able to
> advertise a certain node of one robot on others (two) robots.
> 
> 
> Anyone have already made something similar? If not, how is the correct
> way of doing so?
> 
> 
> 
> 
> Regards,
> 
> 
> Pedro Sousa
> ISR - University of Coimbra
> Portugal
> 
> 
> 
> 
> 
> 
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