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Like many people I struggle with this myself several times, so I eventually created a gist for setting things up correctly: https://gist.github.com/chfritz/8c2adab45a94e091be77c55b0432ad2e

The key is to know under what name the ROS clients announce themselves to the ROS master, and making sure that all clients that want to talk to each other can resolve those names respectively.

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