[ros-users] Finding ROS masters on a local network

Ken Conley kwc at willowgarage.com
Tue Nov 16 16:37:21 UTC 2010

You may want to take a look at Jon Fink's multimaster implementation:


It includes a pybonjour client for locating other masters.

 - Ken

On Tue, Nov 16, 2010 at 2:16 AM, Víctor López
<victor.lopez at pal-robotics.com> wrote:
> Hi,
> I'm working with ROS on several computers. Furthermore, these computers are
> separated in groups, each with it's own local network. So that computers in
> group Foo connect to the "ROSMaster Foo", and computers in group Bar to
> ROSMaster Bar.
> To perform these connections, I have scripts that export one ROS_MASTER_URI
> or another, depending on which group the computer running the script belongs
> to. But this is a maintenance nightmare because every ROSMaster change
> requires an update on the scripts, and every new group requires to modify
> the script.
> Is there any way to find computers running roscore on a local network so
> that I can define my ROS_MASTER_URI to point at them?
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