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<!DOCTYPE html>
<html>
<head>
<meta charset='utf-8'>
<meta http-equiv="X-UA-Compatible" content="chrome=1">
<meta name="description" content="FKIE Multimaster : ROS packages for multimaster support (discovering, synchronizing and management GUI) developed by Fraunhofer FKIE">
<link rel="stylesheet" type="text/css" media="screen" href="stylesheets/stylesheet.css">
<title>FKIE Multimaster</title>
</head>
<body>
<!-- HEADER -->
<div id="header_wrap" class="outer">
<header class="inner">
<a id="forkme_banner" href="https://github.com/fkie/multimaster_fkie">View on GitHub</a>
<h1 id="project_title">FKIE Multimaster</h1>
<h2 id="project_tagline">ROS packages for multimaster support (discovering, synchronizing and management GUI)</h2>
<section id="downloads">
<a class="zip_download_link" href="https://github.com/fkie/multimaster_fkie/zipball/master">Download this project as a .zip file</a>
<a class="tar_download_link" href="https://github.com/fkie/multimaster_fkie/tarball/master">Download this project as a tar.gz file</a>
</section>
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<section id="main_content" class="inner">
<h3>
<a name="overview" class="anchor" href="#designer-templates">
<span class="octicon octicon-link"></span></a>
Overview</h3>
<p>This package offers a set of nodes to establish and manage a multimaster network. This requires no or minimal configuration. The changes are automatically detected and synchronized.
<br/>
<br/>
<strong>Packages:</strong>
<ul>
<a href="master_discovery.html">Master Discovery</a> -- discovery using multicast or zeroconf
<br/>
<a href="master_sync.html">Master Synchronization</a> -- Synchronize local ROS master to remote ROS masters
<br/>
<a href="node_manager.html">Node Manager</a> -- A GUI to manage the configuration on local and remote ROS masters
<br/>
<a href="node_manager_daemon.html">Node Manager Daemon</a> -- Helper node allows an easy launch file management and (auto)start of {remote}nodes
</ul>
<strong>Idea:</strong>
<ul type="square">
<li>The <a href="master_discovery.html">master_discovery</a> node connects to the ROS-Master, gets changes by polling (1.) and publish the changes (multicast or/and unicast) over the network (2.). The received changes of the remote ROS-Master are published to the local ROS topics (3.). </li>
<li>The <a href="master_sync.html">master_sync</a> node connects to the discovered <a href="master_discovery.html">master_discovery</a> nodes (4.), requests the actual ROS state and registers the remote topics/service by local ROS master (5.).</li>
<li>The <a href="node_manager.html">node_manager</a> simplifies launching and managing the ROS multi-master system. It also offers options for managing nodes, topics, services, parameters and launch files through <a href="node_manager_daemon.html">node_manager_daemon</a>. Can also be used in a single ROS master system!</li>
</ul>
</p>
<p><img src="images/ros_multimaster.png" alt="ROS Multimaster"></p>
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<p class="copyright">multimaster_fkie maintained by <a href="https://github.com/fkie">Fraunhofer FKIE</a></p>
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