While they do solve the purpose of communicating between robots of the same type, there are some concerns when it comes to using this technique. They may be quite challenging to set when your robot is loaded with features, where you have to try to provide namespaces for almost all of the launch files that come along with the robot. This could be time-consuming and, at times, intimidating during setup and may lead to chaos if they're not set properly as it doesn't provide any diagnostics or exceptions in the case of issues.

Let's say that you plan to buy a robot base such as Husky or TurtleBot; to use them together, you need to set up the wrapper files (necessary namespace launch files) for each robot. The reason you would have chosen to go for a robot base is to ensure they are ready to use and that you don't need to set the packages up specifically for your application. However, you would end up creating additional files on top of what is available, which would add to more development time. Also, through this method, your rostopic list would be loaded with a cumbersome list of topics with specific robot prefixes. What if you want only selected topics from the robot to be controlled and hence displayed to the main master? What if you need to know which robots are connected or disconnected in the network?

All of these questions will be answered in the upcoming section.