# adlink_ddsbot

**Repository Path**: li9616/adlink_ddsbot

## Basic Information

- **Project Name**: adlink_ddsbot
- **Description**: The ROS 2.0/1.0 based robots swarm architecture (opensplice DDS)
- **Primary Language**: C++
- **License**: Apache-2.0
- **Default Branch**: beta-1.0
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2020-08-24
- **Last Updated**: 2021-10-16

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 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](http://img.youtube.com/vi/7ZIDkLKD4Y8/0.jpg)](https://www.youtube.com/watch?v=7ZIDkLKD4Y8)  
  

## 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
![alt text](https://github.com/Adlink-ROS/adlink_ddsbot/blob/beta-1.0/document/adlink_ddsbot_softarch.jpg)  

## Hardware Architecture
![alt text](https://github.com/Adlink-ROS/adlink_ddsbot/blob/beta-1.0/document/adlink_ddsbot_hardarch.jpg)  
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]  
* ROS 1.0  
  (Kinetic: http://wiki.ros.org/kinetic/Installation/Ubuntu)  
* ROS 2.0 (tested on r2b2)  
* create your own catkin_ws  
  (http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment)  
* Install required dependencies:  
  $ sudo apt-get install git ros-kinetic-navigation ros-kinetic-geographic-msgs ros-kinetic-slam-gmapping ros-kinetic-mrpt-slam ros-kinetic-mrpt-icp-slam-2d ros-kinetic-robot-localization ros-kinetic-stage* -y  
* git clone adlink_ddsbot to your catkin_ws/src and compile  

### 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)   
4. Change the ROS 1 multi-machines variables in .bashrc  
   (for each robot, it has own roscore)  
5. For Single robot test: $ roslaunch adlink_ddsbot Adlink_DDSBot_Nav_Single.launch  
6. For Swarm robots demo:   
   * $ roslaunch adlink_ddsbot Adlink_DDSBot_Nav_Swarm.launch  
   * $ ros2 run ros1_bridge parameter_bridge  
7. Using remote computer to initial & set goal for the ddsbot through RVIZ  
8. 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](https://github.com/Adlink-ROS/adlink_ddsbot/blob/beta-1.0/document/adlink_ddsbot_nodes.png)