Note: This tutorial assumes that you have completed the previous tutorials: Understanding Service Types, Debugging with Avahi Command Line Tools.
(!) Please ask about problems and questions regarding this tutorial on Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Publishing a Ros Master with Avahi

Description: Illustrates how to publish a zeroconf service for your ros master with avahi.

Keywords: zeroconf ros master avahi

Tutorial Level: BEGINNER

Next Tutorial: Discovering Ros Masters with Avahi


Zero-Conf'ing With Zero Configuration

There is a little bit of magic in the ros node for zeroconf_avahi that auto-generates a unique name based on your host and also auto-detects the port that your ros master is running on.

If your ros master is already running:

> roslaunch zeroconf_avahi ros_master.launch

Alternatively, to add it to a launcher of your own:

<include file="$(find zeroconf_avahi)/resources/launch/ros_master.launch"/>

Zeroconf'ing with Unique Configuration

To zeroconf the ros master with a specific service name, simply recreate ros-master.roslaunch with a substituted name and use that, e.g.:

   1 <launch>
   2   <node ns="zeroconf" pkg="zeroconf_avahi" type="zeroconf" name="zeroconf"  output="screen">
   3     <rosparam param="services">
   4       [ { name: "Concert Master", type: _ros-master._tcp, port: 11311, domain: local } ]
   5     </rosparam>
   6   </node>
   7 </launch>


You can test to make sure you can see it with the avahi command line tools:

> avahi-browse -r _ros-master._tcp

Wiki: zeroconf_avahi/Tutorials/Publishing a Ros Master with Avahi (last edited 2013-06-26 06:29:32 by DanielStonier)