MultiMaster [Groovy]

• Continued at Multimaster Special Interest Group.

• Continued from Fuerte Multimaster Planning.

Details

SIG Coordinator: TBD

Google Group: ros-sig-mm

Topics: Improving multi-master support for a couple of common use cases

Members:

• Piyush Khandelwal
• Jack O'Quin
• Daniel Stonier

Use Cases:

• Multi-Robot Workstation - drive towards a robust large-scale multi-robot platform.

  • Piyush Khandelwal

• Robotics in Concert - centralised multi-robot-device framework for real world environments

  • Daniel Stonier, Jihoon Lee (Yujin Robot), Geumdong Bae (Future Robot)

Topics

• Existing Techniques - an overview of existing techniques.

• Transports - some discussion on the current status and requirements of multimaster on the transport layer.

• Mixing Ros Tcp/Udp - how ros' transport layer chooses which type and hints to apply to a connection.

• Turtle Concert Demo - easily reproducible software demo of multimaster built on top of fuerte's master_syncs and app managers.

Projects

• Gateways - iterating on previous foreign relay/master sync implementations (Daniel Stonier).

  • Gateway Model Proposal - design goals, implementation decisions and issues for the gateway model.