View on GitHub

Master Discovery

Discover the running ROS Masters in local network

Download this project as a .zip file Download this project as a tar.gz file

This package contains discovery nodes to detect a ROS master in a multi robot system. There are currently two nodes 'master_discovery' and 'zeroconf' which uses different discovery strategies. 'zeroconf' node uses an avahi implementation of zeroconf technique. The 'master_discovery' node sends periodically a multicast message to notify about an available ROS master. Furthermore the ROS master will be monitored for changes. On changes other discovery nodes are notified using a timestamp. This feature is used e.g. by master_sync to syncronize the ROS masters. Moreover an XML-RPC server created by a discovery node helps to avoid a lot of requests on remote ROS master for a synchronization.

For parameterization see ros wiki

back to main