Multimaster Special Interest Group
Coordinator: Daniel Stonier
Google Group: ros-sig-mm
Topics: Improving multi-master support for a couple of common use cases
Members:
- Piyush Khandelwal
- Jack O'Quin
Daniel Stonier (<stonier AT yujinrobot DOT com>)
Jihoon Lee (<jihoonl AT yujinrobot DOT com>)
Jeff Rousseau (<jroussea AT cs DOT uml DOT edu>)
Use Cases
Building Manager - early centralised multi-master project but put on hold once human resources left.
Ken Conley & Co (Willow Garage)
Multi-Robot Workstation - drive towards a robust large-scale multi-robot platform.
Piyush Khandelwal (University of Texas at Austin)
Robotics in Concert - centralised multi-robot-device framework for real world environments
Daniel Stonier, Jihoon Lee (Yujin Robot)
Although based on an underlying gateway model, the use cases sketched in that documentation serve as a good illustration of the common design pattern ideas for multimaster frameworks.
Topics
Existing Techniques - an overview of existing techniques.
Transports - some discussion on the current status and requirements of multimaster on the transport layer.
Mixing Ros Tcp/Udp - how ros' transport layer chooses which type and hints to apply to a connection.
Presentations
Roscon 2013 - overview of the current status of multimaster presented at roscon 2013.
Projects
Zeroconf - Avahi - auto-discovery on linux.
Rocon Multimaster - building blocks for multimaster, e.g. hubs, gateway model, multimaster launcher.
Rocon Concert - multimaster with a centralised workspace and automatic orchestration.
Turtle Concert Demo - simple software demo built on top of the gateway model/rocon app platform.
Multimaster FKIE - a multimaster environment to allow fine grained management of multiple ros robots.