[ros-users] [Discourse.ros.org] [ROS Projects] [ADLink DDSBot] The ROS 2.0/1.0 based robots swarm architecture

[HaoChih Lin]

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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