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Setup multimaster_fkie

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Everything you need to know to get started with multiple masters in ROS!

What is multimaster_fkie?

The ROS stack of fkie_multimaster offers a complete solution for using ROS with multicores. In addition, Node Manager with a daemon provide a GUI-based management environment that is very useful to manage ROS-launch configurations and control running nodes, also in a single-core system.

Install from source

The first step is to install Python gRPC, which helps in communication purposes.

$ sudo apt install python3-grpcio
$ sudo apt install python3-grpc-tools

Now, make sure you are present in the src folder of your catkin workspace, just type cd ~/catkin_ws/src. And then, execute the following commands :-

$ git clone https://github.com/fkie/multimaster_fkie.git multimaster
$ rosdep update
$ rosdep install -i --as-root pip:false --reinstall --from-paths multimaster

After installation of all the packages, we need to build the same using catkin_make command. But make sure that before running the command, you are present in the root of your catkin workspace, just type cd ~/catkin_ws.

Congratulations! You have succefully installed multimaster_fkie for your workspace and now you can start working with multiple masters. For any further queries, you may refer the below mentioned resources :)

References