Multimaster setup

1. Set a static IP for your computer

2. Open ~/.bashrc and add the following lines:

   export ROS_MASTER_URI=http://{ip_addres}:11311
   export ROS_IP={ip_address}
   

   Important: these lines should be commented when you are using ROS on a single machine without multimaster because the roscore will never start if the IP address does not exist.

3. Close the terminal you were using and open a new one so that the changes you made to ~/.bashrc are applied.

4. Launch the multimaster nodes

   roslaunch zeus_control multimaster.launch
   

You can now discover other ROS masters in your network that are currently running the multimaster nodes. To verify: rostopic list