Concert Framework/Gateway Model

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Gateway Model

Overview

The gateway model provides a framework for multimaster communications in ROS. The technical nature will evolve as ROS 2.0 comms is adopted, but the model will probably remain. It is analogous in many ways to a Gateways for ROS systems are very similar conceptually to gateways on a LAN. They interpose themselves between a ros system (usually robot) and other ros systems and are the co-ordinators of what traffic is permitted to pass in and out.

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Note that the gateways are not a complete ROS multimaster solution on their own. They have been designed to be a convenient building block for a variety of more complete solutions on top. Some ideas for use cases.

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