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[[http://fkie.github.io/multimaster_fkie|Multimaster FKIE Manual on GitHub]]

[[http://www.iri.upc.edu/files/scidoc/1607-Multi-master-ROS-systems.pdf|Multimaster ROS Systems]] - Technical Report by Sergi Hernandez Juan and Fernando Herrero Cotarelo

== Overview ==
This package offers a set of nodes to establish and manage a multimaster network. This requires no or minimal configuration. The changes are automatically detected and synchronized.

 . The [[http://www.ros.org/wiki/master_discovery_fkie|master_discovery]] node connects to the ROS-Master, gets changes by polling (1.) and publish the changes (multicast or/and unicast) over the network (2.). The received changes of the remote ROS-Master are published to the local ROS topics (3.).
 The [[http://www.ros.org/wiki/master_sync_fkie|master_sync]] node connects to the discovered [[http://www.ros.org/wiki/master_discovery_fkie|master_discovery]] nodes (4.), requests the actual ROS state and registers the remote topics/service (5.).
 The [[http://www.ros.org/wiki/node_manager_fkie|node_manager]] simplifies launching and managing the ROS multi-master system. It also offers options for managing nodes, topics, services, parameters and launch files. Can also be used in a single ROS master system![[http://www.ros.org/wiki/multimaster_fkie?action=AttachFile&do=get&target=nm_cheatsheet.pdf|cheatsheet (with thanks to Lorenz Halt!)]]

{{attachment:ros_multimaster.png}}

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