The components listed here for basic multimaster are not concert specific. You can use these to build an alternative multimaster framework if you wish.
- Rocon Launch for Multiple Masters
Spawn multiple roslaunch terminals over multiple ros masters.
The Gateway Model
The gateway model is the engine of a rocon multimaster system. They are used by the app manager and the concert level components to co-ordinate the exchange of ros topics, services and actions between masters, but in general, you do not need to know in detail how they operate to play with a rocon concert. If you would like to find out more about them, start here:
ToDo: this is awaiting a minor redesign and a rewrite of some hydro tutorials