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

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

Hardware Architecture

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]

• ROS 1 (Kinetic: http://wiki.ros.org/kinetic/Installation/Ubuntu)
• ROS 2 (tested on Ardent)
• 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. 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 pi@10.0.0.1)
   • 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]