# ROSMASTER API and rosrun source code

**URL:** <https://discourse.openrobotics.org/t/rosmaster-api-and-rosrun-source-code/20588>\
**Category:** ROS General\
**Created:** [May 25, 2021, 10:15am UTC](https://discourse.openrobotics.org/t/rosmaster-api-and-rosrun-source-code/20588 "2021-05-25T10:15:09Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![MerAARIZOU](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/meraarizou/32/1122_2.png) [@MerAARIZOU](https://discourse.openrobotics.org/u/MerAARIZOU)\
**Post date:** [May 25, 2021, 10:15am UTC](https://discourse.openrobotics.org/t/rosmaster-api-and-rosrun-source-code/20588/1 "2021-05-25T10:15:10Z")

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Hello community! I hope everyone is doing good!  
As part of my project, I want to make two different ROSMASTER collaborate with eachother via Internet. For example, a node registered in one ROSMASTER can publish and subscribe into a topic wich is registered in the other ROSMASTER. As first step, I want to see and study the source code of ROSMASTER API and rosrun so I can understand the communication steps between them. Can anyone provides me the links or anything I can start with?  
Thank you very much, and stay safe!

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**Author:** ![peci1](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/peci1/32/10145_2.png) [@peci1](https://discourse.openrobotics.org/u/peci1)\
**Post date:** [May 25, 2021, 11:05am UTC](https://discourse.openrobotics.org/t/rosmaster-api-and-rosrun-source-code/20588/2 "2021-05-25T11:05:48Z")

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Why reinventing the wheel? Give a shot to [GitHub - AIS-Bonn/nimbro\_network: ROS network stack: Topic/service transport over unreliable network connections](https://github.com/AIS-Bonn/nimbro_network) (or our fork [GitHub - tradr-project/nimbro\_network: ROS network stack: Topic/service transport over unreliable network connections](https://github.com/tradr-project/nimbro_network) with a few goodies added).

There are also other ways: [rocon\_multimaster - ROS Wiki](http://wiki.ros.org/rocon_multimaster) , [multimaster\_fkie - ROS Wiki](http://wiki.ros.org/multimaster_fkie) . Or give a try to ROS 2, that could support this scenario out of the box!

Anyways, the Master API is described here: [ROS/Master\_API - ROS Wiki](http://wiki.ros.org/ROS/Master_API) .