[ros-users] ROS decentralise architecture, without ROS Master

Gaetan Severac Gaetan.Severac at onera.fr
Tue Apr 10 08:16:35 UTC 2012

thanks Dirk and Cedric for the additional information.

On 06/04/2012 21:51, Cedric Pradalier wrote:
> Hello,
> For inspiration, we're using (have to use) RTI DDS in an other
> project, and although the whole setup is not as practical as ROS, they
> have a masterless implementation and per topic, fine-grain
> configurable quality of service.
> This might be an interesting reference for these white board discussions.
> Cheers
> On Fri, Apr 6, 2012 at 6:53 PM, Dirk Thomas<dthomas at willowgarage.com>  wrote:
>> Hi Gaëtan,
>>> I am wondering if there any work done about decentralise architecture for
>>> ROS. I mean connection and exchange of services between nodes without the
>>> need of a ROS Master, in an "ad hok mode".
>>> I found no information about this neither in the Wiki, FAQ or ROS Answer
>>> pages.
>>> If you have some information about previous or ongoing work on the subject
>>> I'm interested !
>> For now the suggested multi-master approach is the best way to go.
>> For the future we are actively thinking about master-less solutions.
>> But this is all still in "white-board" phase and nothing which will be
>> available in the near term.
>> As soon as ideas and concepts get more concrete we will put together
>> information in the Wiki.
>> Dirk
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