I'm trying to run multiple turtlebots as a multimaster system. When I sync a single turtlebot with my control computer it works.
However, when I bring a second robot into the mix, the capability_server crashes when the system syncs.
I'm trying to only sync two topics. When not running the turtlebot packages, this appears to work. However, because the capablity_server crashes when I am running the turtlebot stack, I must conclude more information is being synced between the masters.
Attached you can find my launchfile for the multimaster_sync.
<launch>
<node name="master_sync" pkg="master_sync_fkie" type="master_sync" output="screen">
<!-- Performs resync after the host was offline: unregister and register again to avoid connection losses to python topic. These does not suppot reconnection! -->
<param name="resync_on_reconnect" value="True" />
<!-- A configurable period that controls how long the offline-online period [sec] is before the resync kicks in.
(Since version 0.5.9)-->
<param name="resync_on_reconnect_timeout" value="0" />
<!-- A filter list with patterns. If this pattern merges to a node, topic or service it will not be synchronized.
(Since version 0.5.4)-->
<rosparam param="do_not_sync">[]</rosparam>
<!-- This list with names of ROS master to ignore -->
<rosparam param="ignore_hosts">[]</rosparam>
<!-- This list with names of ROS master to synchronize. Only this ROS master in this list will be synchronized. The ~ignore_hosts list is processed first. -->
<rosparam param="sync_hosts">[]</rosparam>
<!-- The list of nodes, which are to be ignored while a synchroniation. All their topics and services are ignored!
These are defaults and cannot be removed: [/rosout, "/*master_sync* node", "remote /*master_discovery* node", "/*node_manager", /*zeroconf] -->
<rosparam param="ignore_nodes">[]</rosparam>
<!-- The list of nodes to synchronize. Only topics of this nodes are synchronized. The ~ignore_nodes, ~ignore_topics and ~ignore_services lists are processed first. -->
<rosparam param="sync_nodes">[]</rosparam>
<!-- The list of topics, which are to be ignored while a synchroniation. The ~ignore_nodes list is processed first.
These are defaults and cannot be removed: ['/rosout', '/rosout_agg'] -->
<!-- <rosparam param="ignore_topics">["/*einstein*", "/*newton*", "/*tesla*", "/*pythagoras*", "/tf", "/tf_static", "/*move_base*", "/*camera*", "/*navigation*", "/odom", "/*mobile_base*", "/*amcl*", "/*capability_server*", "/*cmd_vel_mux*", "/*depthimage_to_laserscan*", "/*diagnostics*", "/*gateway*", "/*info*", "/*initialpose*", "/*interactions*", "/*joint_states*", "/*kobuki_safety_controller*", "/*map*", "/*map_metadata*", "/*navigation_velocity_smoother*", "/particlecloud", "/rosout", "/rosout_agg", "/scan", "/*zeroconf*"]</rosparam> -->
<rosparam param="ignore_topics">[]</rosparam>
<rosparam param="ignore_publishers">[]</rosparam>
<rosparam param="ignore_subscribers">[]</rosparam>
<!-- The list of topics to synchronize. The ~ignore_nodes and ~ignore_topics lists are processed first. -->
<rosparam param="sync_topics">['/pickup_command', '/pickup_response']</rosparam>
<!-- The list of services, which are to be ignored while a synchroniation. The ~ignore_nodes list is processed first.
These are defaults and cannot be removed: ['/*get_loggers', '/*set_logger_level'] -->
<rosparam param="ignore_services">[]</rosparam>
<!-- The list of services to synchronize. The ~ignore_nodes and ~ignore_services lists are processed first. -->
<rosparam param="sync_services">[]</rosparam>
<!-- This parameter is only regarded, if sync_nodes or sync_topics are set. In this case the subscribed and published topics are synchronized even if they are not in the sync_* list -->
<param name="sync_topics_on_demand" value="False" />
<!-- The list of types to ignore.
These are defaults and cannot be removed: ['bond/Status'] -->
<rosparam param="ignore_type">[]</rosparam>
<!-- The nodes which are running not at the same host as the ROS master are not synchronized by default. Use sync_remote_nodes to sync these nodes also. -->
<param name="sync_remote_nodes" value="False" />
</node>
</launch>
React
Typescript
Django
Laravel
Facebook
Microsoft
Google
Alibaba
D3
Tencent