= Multimaster Special Interest Group =

'''Coordinator''': Daniel Stonier

'''Google Group''': [[https://groups.google.com/group/ros-sig-mm|ros-sig-mm]]

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

'''Members''':

 * Piyush Khandelwal
 * Jack O'Quin
 * Daniel Stonier (<<MailTo(stonier AT yujinrobot DOT com)>>)
 * Jihoon Lee (<<MailTo(jihoonl AT yujinrobot DOT com)>>)
 * Jeff Rousseau (<<MailTo(jroussea AT cs DOT uml DOT edu)>>)

== Use Cases ==

 * [[Projects/Building Manager|Building Manager]] - early centralised multi-master project but put on hold once human resources left.
  * ''Ken Conley & Co (Willow Garage)''
 * [[sig/Multimaster/Use Case - Multi-Robot Workstation|Multi-Robot Workstation]] - drive towards a robust large-scale multi-robot platform.
  * ''Piyush Khandelwal'' (University of Texas at Austin)
 * [[rocon_concert|Robotics in Concert]] - centralised multi-robot-device framework for real world environments 
  * ''[[DanielStonier|Daniel Stonier]]'', ''Jihoon Lee (Yujin Robot)''

Although based on an underlying gateway model, the [[rocon_multimaster/Use Cases|use cases]] sketched in that documentation serve as a good illustration of the common design pattern ideas for multimaster frameworks.

== Topics ==

 * [[sig/Multimaster/Existing Techniques|Existing Techniques]] - an overview of existing techniques.
 * [[sig/Multimaster/Transports|Transports]] - some discussion on the current status and requirements of multimaster on the transport layer.
 * [[http://redmine.robotconcert.org/projects/multimaster/wiki/Mixing_Ros_TCPUDP|Mixing Ros Tcp/Udp]] - how ros' transport layer chooses which type and hints to apply to a connection.

== Presentations ==

 * [[attachment:multimaster-roscon2013.odp|Roscon 2013]] - overview of the current status of multimaster presented at roscon 2013.

== Projects ==

 * [[zeroconf_avahi_suite|Zeroconf - Avahi]] - auto-discovery on linux.
 * [[rocon_multimaster|Rocon Multimaster]] - building blocks for multimaster, e.g. hubs, [[rocon_gateway|gateway model]], multimaster launcher.
 * [[rocon_concert|Rocon Concert]] - multimaster with a centralised workspace and automatic orchestration.
  * [[turtle_concert|Turtle Concert Demo]] - simple software demo built on top of the gateway model/rocon app platform.
 * [[multimaster_fkie|Multimaster FKIE]] - a multimaster environment to allow fine grained management of multiple ros robots.

== Graveyard ==

 * [[groovy/Planning/Multimaster|Groovy Multimaster Planning]]
 * [[fuerte/Planning/Multimaster|Fuerte Multimaster Planning]]