Revision history [back]

You could relay some topics from one master to another master. A tool for doing that is somewhere in the WG repostiory:

https://code.ros.org/svn/ros/stacks/multimaster_experimental/trunk/foreign_relay

For instance, if you have one robot with master uri A and another one with master uri B, you can set up the relay by running the following command on A:

rosrun foreign_relay foreign_relay adv http://B:11311 /a/laser /laser

It will basically advertise the topic /a/laser on B.