[ros-users] Topic Relaying between two different ROS masters

Jan Winkler winkler at cs.uni-bremen.de
Thu Apr 2 09:07:59 UTC 2015


Hey Jihoon,

Thanks for the links. I just had a brief look; as long as it allows us
to share at least one topic (used for ACL message transport between
agents), we're very happy. Looks like rocon does that; I'll need to test
it in our setup, though.

I'll let you know how it goes!

Cheers,
Jan


On 02.04.2015 10:54, Jihoon via ros-users wrote:
> Hello Jan,
> 
> I am one of multimaster-sig subscriber who definitely interested in your
> usecase. So please ping us in mm sig.
> In the meantime, we have developed multi master based multi robot system
> using this packages. You may want to take a look.
> 
> http://wiki.ros.org/rocon_multimaster
> http://wiki.ros.org/rocon_multimaster/Use%20Cases
> 
> Cheers,
> Jihoon
> 
> 
> On 2015년 04월 02일 17:42, Jan Winkler via ros-users wrote:
>> Hey Tully,
>>
>> We have an event coming up where we will demonstrate robot tasks that
>> include a set of simple collaborative aspects with multiple ROS masters.
>> We will definitely need this functionality there. I'll keep the mailing
>> list you suggested in the loop about our experiences with the existing
>> solutions.
>>
>> Thanks for the pointer.
>>
>> Cheers,
>> Jan
>>
>>
>> On 02.04.2015 10:37, Tully Foote via ros-users wrote:
>>> Hi Stephan,
>>>
>>> Sorry bad paste. the mailing list is here:
>>> https://groups.google.com/group/ros-sig-mm
>>>
>>> Yes it hasn't been very active recently, but I would suggest that it
>>> mostly a sign of what is there is meeting people use cases. The released
>>> packages have been relatively stable for most of that time too.
>>> Obviously it also hasn't been advertised much recently so also some
>>> people didn't know about it. Hopefully this thread will raise it's
>>> visibility.
>>>
>>> If you or anyone wants to jump in and push development further or get
>>> feedback on a proposal or prototype there's over 80 people on the
>>> mailing list who are interested in multi-master. Don't hesitate to jump
>>> in a start a new discussion.
>>>
>>> Tully
>>>
>>> On Thu, Apr 2, 2015 at 1:13 AM, Stephan Opfer via ros-users
>>> <ros-users at lists.ros.org <mailto:ros-users at lists.ros.org>> wrote:
>>>
>>>      Hi Tully,
>>>
>>>      the mailing list is the wiki? I guess you meant:
>>>      https://groups.google.com/__forum/#!forum/ros-sig-mm
>>>      <https://groups.google.com/forum/#!forum/ros-sig-mm>
>>>
>>>      Unfortunately, there wasnt a post for almost 1 year.
>>>
>>>      Greetings,
>>>        Stephan
>>>
>>>      On 04/02/2015 06:30 AM, Tully Foote via ros-users wrote:
>>>
>>>          Hi Jan et al,
>>>
>>>          For awareness there's actually several multimaster
>>>          implementations and a
>>>          SIG for discussing them as well:
>>>          http://wiki.ros.org/sig/__Multimaster
>>>          <http://wiki.ros.org/sig/Multimaster>
>>>
>>>          If anyone would like more info on any of these, I suggest
>>> you poke
>>>          around on that sig. The mailing list is:
>>>          http://wiki.ros.org/sig/__Multimaster
>>>          <http://wiki.ros.org/sig/Multimaster>
>>>
>>>          Cheers,
>>>          Tully
>>>
>>>          On Wed, Apr 1, 2015 at 8:55 PM, Jan Winkler via ros-users
>>>          <ros-users at lists.ros.org <mailto:ros-users at lists.ros.org>
>>>          <mailto:ros-users at lists.ros.__org
>>>          <mailto:ros-users at lists.ros.org>>> wrote:
>>>
>>>              Hey,
>>>
>>>              It does, especially that case.
>>>              I had a look over what Moritz sent around and wasn't aware
>>>          of the
>>>              mulitmaster project - looks pretty advanced :). I'll
>>> reconsider
>>>              using that one in the future if that works for us :).
>>>
>>>              Cheers,
>>>              Jan
>>>
>>>
>>>               > On 01.04.2015, at 21:50, Ką Mykolas via ros-users
>>>              <ros-users at lists.ros.org <mailto:ros-users at lists.ros.org>
>>>          <mailto:ros-users at lists.ros.__org
>>>          <mailto:ros-users at lists.ros.org>>> wrote:
>>>               >
>>>               > Just wondering... does it work with masters from
>>>          different ROS
>>>               > versions? For example Groovy <---> Indigo.
>>>               >
>>>               >> On 4/1/15, Moritz Tenorth via ros-users
>>>          <ros-users at lists.ros.org <mailto:ros-users at lists.ros.org>
>>>              <mailto:ros-users at lists.ros.__org
>>>          <mailto:ros-users at lists.ros.org>>> wrote:
>>>               >> Hi,
>>>               >>
>>>               >> inwiefern ist das anders als
>>>          http://wiki.ros.org/__multimaster_fkie
>>>          <http://wiki.ros.org/multimaster_fkie> ?
>>>               >>
>>>               >> ciao
>>>               >> MoritzOn Apr 1, 2015 4:27 PM, Jan Winkler via ros-users
>>>               >> <ros-users at lists.ros.org
>>>          <mailto:ros-users at lists.ros.org>
>>>          <mailto:ros-users at lists.ros.__org
>>>          <mailto:ros-users at lists.ros.org>>> wrote:
>>>               >>>
>>>               >>> Hello everyone,
>>>               >>>
>>>               >>> In our lab, the requirement of sharing a topic
>>> between two
>>>              different ROS
>>>               >>> master instances came up in different contexts.
>>>               >>>
>>>               >>> I just wanted to let you know about the tool that was
>>>          developed
>>>              for that
>>>               >>> purpose:
>>>               >>>
>>>               >>> * https://github.com/code-iai/__topic_relay
>>>          <https://github.com/code-iai/topic_relay>
>>>               >>>
>>>               >>> It basically connects to both masters (without a
>>> priori
>>>              knowledge about
>>>               >>> the topic type) and blindly forwards messages between
>>>          the two
>>>              ROS master
>>>               >>> instances.
>>>               >>>
>>>               >>> I'm posting this in case anyone else runs into this
>>>          situation.
>>>               >>>
>>>               >>> NOTE: Its still pretty hacky, but works reliably
>>> for us
>>>          so far.
>>>              Will be
>>>               >>> cleaned up as soon as I find time to do that :).
>>>               >>>
>>>               >>> All the best,
>>>               >>> Jan
>>>               >>>
>>>               >>> --
>>>               >>> Dipl. Ing. Jan Winkler
>>>               >>> Institute for Artificial Intelligence
>>>               >>> University of Bremen
>>>               >>> Am Fallturm 1
>>>               >>> 28359 Bremen, Germany
>>>               >>> Phone: +49 421 218 64019
>>>          <tel:%2B49%20421%20218%2064019>
>>> <tel:%2B49%20421%20218%__2064019>
>>>               >>> Fax: +49 421 218 64047 <tel:%2B49%20421%20218%2064047>
>>>          <tel:%2B49%20421%20218%__2064047>
>>>               >>> EMail: winkler at cs.uni-bremen.de
>>>          <mailto:winkler at cs.uni-bremen.de>
>>>          <mailto:winkler at cs.uni-bremen.__de
>>>          <mailto:winkler at cs.uni-bremen.de>>
>>>               >>>
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>>> Data:
>>>               >>> http://www.open-ease.org/
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-- 
Dipl. Ing. Jan Winkler
Institute for Artificial Intelligence
University of Bremen
Am Fallturm 1
28359 Bremen, Germany
Phone: +49 421 218 64019
Fax: +49 421 218 64047
EMail: winkler at cs.uni-bremen.de

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