Concert Framework/Gateway Model

= 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.

https://docs.google.com/drawings/pub?id=1R7Pu_BZkNU70Jn4l4GpDC95iZevK8sLDJx-UKj3lcw0&w=726&h=477&.png

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.

Status

 * State:
 * ROS Wiki: https://ros.org/wiki/rocon_gateway
 * Sources: https://github.com/robotics-in-concert/rocon_multimaster