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Hi all! i was working with two computers using the same ROS master as described at this it is working well but the problem is that i want to transfer only some specific topics and not all topics. since the two packages i am using in each computer publish on tf, i have problem while recording the bag file. can someone suggest a better way to do it? what i mean is that i run ROSCORE in each of two machines(computers) and i send the topics that i wanted from a master to another.

PS: i was about to use the foreign_relay package but it seems it is not possible to download it(if someone could give me the link to download it, that would be perfect :D)

Thanks! all help will be welcome.


Originally posted by milorenus on ROS Answers with karma: 11 on 2015-01-19

Post score: 0


Original comments

Comment by Wolf on 2015-01-20:
Usually the two tf publishers should not interfere, it's very common to have a huge amount of tf broadcasters. Could you describe a bit more want your issue is with this?

Comment by Wolf on 2015-01-20:
Note that for tf it is very important that clocks of both machines are in sync so make sure there is an NTP connection between both comuters...

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There are a few implementations of Multimaster functionality out there, but none has really reached the status of being "the recommended implementation". Other examples beyond the one @ahendrix mentioned are:

If you google for "multimaster ros" you'll also find other material, such as the Multimaster SIG group


Originally posted by Stefan Kohlbrecher with karma: 24361 on 2015-01-20

This answer was ACCEPTED on the original site

Post score: 1


Original comments

Comment by milorenus on 2015-01-20:
Thank you for the answer, can you give me a quick explain of how to use the topic_proxy? that would be very helpful to me.

Comment by Stefan Kohlbrecher on 2015-01-26:
The README at github has a complete example. Have you tried that?

Comment by milorenus on 2015-01-26:
Thanks for the help but i figured out how to deal with it using the foreign relay package, even though it is not the best solution. Keep it up :)

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