Multi_Master_fkie

With the general ROS configurations with multiple machines running there must be a Master and Slave machines. This is set via the environment variable:

ROS_MASTER_URI

For single ROS networks this is usually set to

localhost:11311

For SARWAI's purposes a modular network needs to setup. This is the purpose of the server setup and Multi_master_fkie. This ROS package allows for a remote server to "relay" important ROS topic messages to other non-ROS systems.

Further theory and implementation is found here: http://www.iri.upc.edu/files/scidoc/1607-Multi-master-ROS-systems.pdf

The common network described in this article is implemented via VPN. This is further described in OpenVPN article in this Dev Guide.