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List:       ros-users
Subject:    [ros-users] [Discourse.ros.org] [ROS Projects] [ADLink DDSBot] The ROS 2.0/1.0 based robots swarm ar
From:       ros.discourse () gmail ! com (HaoChih Lin)
Date:       2017-09-26 7:19:13
Message-ID: topic/2753 () discourse ! ros ! org
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Hi all,

We are happy to announce the release of a ROS 2 based robots swarm projects held in \
ADLINK Technology/PrismTech. 

The typical solution for swarm robots in ROS 1 is using either different namespaces \
or external communication (outside of ROS middleware). However, by means of ROS2/DDS \
capability, we can solve this issue more effectively. As shown in figure below, each \
robot in our architecture is fully-independent, self-awareness and fully \
autonomous(by navigation stack). Then each robot publishes its global position to \
ROS2 Topic Layer through ros1_bridge. Therefore, all the others will be aware of its \
position with the help of custom "swarm_costmap_layer". The swarm network allows \
robots to join and leave dynamically without human involving or any beforehand \
configuration. Furthermore, the developer/user is able to monitor&control all robots \
                through a ROS 2 node.    
![jpg|690x388](upload://ttkWJ4siYV3uw7waTSx5pHfD8Zn.jpg)

The demo video:
[https://www.youtube.com/watch?v=7ZIDkLKD4Y8](https://www.youtube.com/watch?v=7ZIDkLKD4Y8)


Github link:
[https://github.com/Adlink-ROS/adlink_ddsbot](https://github.com/Adlink-ROS/adlink_ddsbot)
 Including all required files, tutorials, simulation and ready-to-go Pi3 image(ROS \
Kinetic & r2b2 with opensplice) 

In addition, the robot in our experiments, called DDSBot, is a extremely low-cost \
platform. The total cost of each robot is lower than 250USD (inc, lidar, Pi3, \
battery). All necessary document, firmware/software source codes are opened and under \
Apache 2.0 License.





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[Visit Topic](https://discourse.ros.org/t/adlink-ddsbot-the-ros-2-0-1-0-based-robots-swarm-architecture/2753/1) \
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