Welcome to master_discovery_fkie’s documentation!

A Node to discovery the running ROS Masters in local network. The discovering is done by send a echo heartbeat messages to a defined multicast group.

Additionally the current state of the ROS Master and local ROS Nodes will be offered using XML-RPC server created in master_discovery_fkie.master_monitor-module. To reduce the count of accesses the whole ROS Master state is described by master_discovery_fkie.master_info.MasterInfo.


abb: master_discovery_fkie node structure

Alternatively the master_discovery_fkie.zeroconf can be used to detect ROS Masters using the avahi-zeroconf deamon.


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