ROS Master to Master Communication

What is the best way to go about simulating two ROS robots working together on separate masters, but on the same computer? I am familiar with the package ‘multimaster_fkie’, however this package assumes you have two separate IP addresses. I want to simulate the separate masters on the same IP address, but using different ports.


Well. if you are into ROS2, ROS2 doesnt have this Master issue and multiple robots are much easier to run in the same system.

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