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?