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The ROS 1/2 based robots swarm architecture (opensplice DDS)

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ADLink DDSBot (ROS 1/2 based swarm robots architecture)

Abstract

Swarm robots using Opensplice DDS with ROS 1&2
[Official Slides] https://github.com/Adlink-ROS/adlink_ddsbot/blob/release-1.0/document/Next-Gen_Smart_Manufacturing.pdf
[Youtube Video] https://www.youtube.com/watch?v=7ZIDkLKD4Y8
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Developer & Team

HaoChih Lin ([email protected])
Chester Tseng ([email protected])
Erik Boasson ([email protected])
Ryan Chen ([email protected])

ADLINK Technology, Inc
Advanced Robotic Platform Group

License

Apache 2.0
Copyright 2017 ADLINK Technology, Inc.

Software Architecture

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Hardware Architecture

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Build your own low-cost ddsbot (~250USD)
[Assembling PDF] adlink_ddsbot/document/hardware/adlink_ddsbot_hardware.pdf

[Arduino firmware]
For UNO (motor control): adlink_ddsbot/document/arduino/motor_control/motor_control.ino
For Nano (GY85 IMU): adlink_ddsbot/document/arduino/Razor_AHRS/Razor_AHRS.ino

Tutorial

System prerequisite

[Desktop]

Simulation (stage, two computers)

  1. Check the hostname (should be unique in the network)
  2. Check the system time synchronization ($ sudo ntpdate IP_TARGET)
  3. Open a terminal (remember to source ros2 & ros1 setup.bash)
  4. $ export HOSTNAME
  5. $ roslaunch adlink_ddsbot Swarm_Sim_Stage.launch
  6. $ ros2 run ros1_bridge parameter_bridge
  7. Repeat the same steps on another computer/robot (both should be in the same network)
  8. Then, each robot can be aware of all the others shown on the rviz.

Real robot (raspberryPi3)

[Image files] Download pre-built image for Pi3 (ubuntu mate 16.04, ros 1&2, 13GB)
link: https://drive.google.com/open?id=0BxI3PXhTd_3HWmh2c2VSbWFNRHM
Extract the file from .gz file: $ gunzip -c ADLINK_DDSBot_Pi3_20171002.img.gz > ADLINK_DDSBot_Pi3_20171002.img Burn image file to SD card

[Setup steps]

  1. Connect Pi3 with your desktop by either ethernet cable or debug cable
  2. Power-on and login: (passward is: adlinkros)
    • hdmi display: you can see the ADLink logo on the desktop
    • ethernet: the default id address of provided image is 10.0.0.1 ($ ssh [email protected])
    • debug cable: enter the password
  3. Change robot's hostname and connect to local network
  4. Synchronize the system time through AP server/specific computer ($ sudo ntpdate IP_ADDRESS)
  5. Change the ROS 1 multi-machines variables in .bashrc (for each robot, it has own roscore)
  6. For Single robot test: $ roslaunch adlink_ddsbot Adlink_DDSBot_Nav_Single.launch
  7. For Swarm robots demo:
    • $ roslaunch adlink_ddsbot Adlink_DDSBot_Nav_Swarm.launch
    • $ ros2 run ros1_bridge parameter_bridge
  8. Using remote computer to initial & set goal for the ddsbot through RVIZ
  9. Do the same thing on another ddsbots (in the same network), once the ros1_bridge has been executed, all others ddsbots can be visualized on RVIZ.

[Node Graph] alt text

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