Multi-master ROS systems

Technical Report (2015)

IRI code



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This technical report introduces the concepts, problems and a possible solution for ROS multi-master systems, that is, systems build from two or more ROS networks, each with its own roscore node. In general this environment would correspond to multi-robot systems, either mobile platforms or manipulators.

The ROS framework already provides a solution for such systems, multimaster_fkie, which is presented and briefly described in this
technical report, together with the network setup necessary to make it work properly.

Two different configurations are discussed in this technical report, simple ROS networks with a single computer each, and more complex ROS networks with two or more computers each. In both cases, real examples are provided using robots available at IRI.


multi-robot systems.

Author keywords

Software, ROS, multimaster

Scientific reference

S. Hernández and F. Herrero. Multi-master ROS systems. Technical Report IRI-TR-15-01, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2015.