The multimaster_fkie package has two major nodes:

• The master_discovery node
• The master_sync node

The master_discovery node helps us detect other ROS masters in the network and identify changes, if any, in the network and share them with the other ROS masters. The master_sync node helps other ROS masters to synchronize their topics and services with the local ROS master. This effectively helps the ROS masters in the common network to only share necessary topic information with the common network, keeping other abundant topic information in their local network.

Let's look at some examples to understand how to set up the multimaster_fkie package.