Multimaster Special Interest Group

Coordinator: Daniel Stonier

Google Group: ros-sig-mm

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


  • Piyush Khandelwal
  • Jack O'Quin
  • Daniel Stonier (<stonier AT yujinrobot DOT com>)

  • Jihoon Lee (<jihoonl AT yujinrobot DOT com>)

  • Jeff Rousseau (<jroussea AT cs DOT uml DOT edu>)

Use Cases

  • Building Manager - early centralised multi-master project but put on hold once human resources left.

    • Ken Conley & Co (Willow Garage)

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

    • Piyush Khandelwal (University of Texas at Austin)

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

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


  • 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.


  • Roscon 2013 - overview of the current status of multimaster presented at roscon 2013.



Wiki: sig/Multimaster (last edited 2015-04-02 08:03:14 by StephanOpfer)