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README
Apache-2.0

ADLink DDSBot (ROS 1.0/2.0 based swarm robots architecture)

Abstract

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

Developer & Team

HaoChih Lin (haochih.lin@adlinktech.com
Chester Tseng (chester.tseng@adlinktech.com
Erik Boasson (erik.boasson@adlinktech.com
Ryan Chen (ryanjb.chen@adlinktech.com

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
(https://github.com/Adlink-ROS/adlink_ddsbot/blob/beta-1.0/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. Ckeck 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)
link:
Extract the file from .gz file: $ gunzip -c ADLINK_DDSBot_Pi3_20170925.img.gz > ADLINK_DDSBot_Pi3_20170925.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 pi@10.0.0.1
    • debug cable: enter the passward
  3. Change robot's hostname and connect to local network
  4. Synchronize the system time throught 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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简介

The ROS 2.0/1.0 based robots swarm architecture (opensplice DDS) 展开 收起
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