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master_sync.html
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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="Master Sync : Synchronize local ROS master to remote ROS masters">
<link rel="stylesheet" type="text/css" media="screen" href="stylesheets/stylesheet.css">
<title>Master Sync</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">Master Sync</h1>
<h2 id="project_tagline">Synchronize local ROS master to remote ROS masters</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">
<p>
This package contains a node to synchronize the local ROS master to remote ROS masters discovered by <a href="master_discovery.html">master_discovery</a> node. For synchronization the <a href="http://www.ros.org/wiki/ROS/Master_API">Master API</a> will be used. Thereby the regitration of topics/services are performed only on the local ROS master. To obtain a complete synchronization of two ROS master one master_sync node in <strong>each</strong> "ROS system" have to be started.
</p>
<p>
The syncronization will be performed on each time the remote ROS master is changed. The change detection is done by the <a href="master_discovery.html">master_discovery</a> node. To avoid multiple calls over unreliable connections e.g. WiFi, needed for a synchronization, the XML-RPC server of the <a href="master_discovery.html">master_discovery</a> node is used to get the current state of the remote ROS master.
</p>
<p>
<img src="images/usage/alert.png" align="middle"> in the current state the <a href="http://www.ros.org/wiki/ROS/Parameter%20Server%20API">ROS Parameter server</a> will be not synchronized.</p>
<p>
<img src="images/usage/alert.png" align="middle"> The services and published topics of <a href="master_discovery.html">master_discovery</a> node are detected automatically!
</p>
<h4>
<a name="Config" class="anchor" href="#designer-templates"><span class="octicon octicon-link"></span></a>
Configuration Parameter
</h4>
By default all possible topics and services are synchronized. If you want to synchronize or ignore a special set of topics or services you can use the configuration parameter. For details see <a href="http://wiki.ros.org/master_sync_fkie">ros wiki</a>.
<p><a href="index.html">back to main</a></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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