Simulation Application of Multi-robot Collaboration

[pure-color]

Background:
Multi-robot system has become the development trend of robotics industry.Multi-robot system has better robustness than single robot,and has wider application space.Computer simulation through simulating the process of multi-robot system in the environment to verify the correctness and effectiveness of multi-robot coordination and control.
An open-source campus model is added based on Gazebo. Multiple robots are added to the model to cooperate with each other to complete the inspection tasks of the entire campus.

1. Robot type: UAV, wheeled robot, multi-legged robot, etc.
2. Simulator: gazebo;
3. Collaboration display is not limited to inspection scenarios.

Qualified Standard:

1. All code complies with open source standards.
2. At least two types of robots
3. Robot applications and effects video
4. Gazebo Feature Sorting Document (Which Capabilities in Gazebo Are Used)
5. Function Requirement Document for Open Source Projects

Other information:
KubeEdge: https://github.com/kubeedge;
KubeEdge SIG Robotics: https://github.com/kubeedge/community/tree/master/sig-robotics
KubeEdge Examples: https://github.com/kubeedge/examples
ROS: https://www.ros.org/blog/getting-started/
Gazebo: http://gazebosim.org/tutorials?cat=guided_b&tut=guided_b1
Models:
i. https://app.gazebosim.org/MovAi/fuel/worlds/tugbot_depot
ii. https://app.gazebosim.org/OpenRobotics/fuel/models/CERBERUS_ANYMAL_B_VISUALS_ONLY
iii. https://app.gazebosim.org/OpenRobotics/fuel/models/X4%20UAV%20Config%201

[xuqiaobo]

the above issue just states the base information, this topic includes multi-robots collaboration, how to achieve the collaboration, you can use scheduler to handle it. the sub tasks of collaboration maybe use AI Model, you can use all methods you have thought to solve the topic

[junkdood]

I wonder whether there is a benchmark for this task to compare with? Or do I just need to explore the collaboration function?

[pure-color]

Our goal is to need a better solution. We will evaluate and compare the solution in terms of architecture design, performance, and extensibility. We will not only focus on the implementation of orchestration and collaboration. For example, the model in the additional information (with multiple sensor devices), how to use the model in gazebo, how to improve the loading speed of the model, and so on is also a place to explore. @junkdood

[junkdood]

Hi! I am recently trying to build a small world demo in gazebo with the models you provided. I want to know which gazebo I should use, Ignition or Gazebo Classic?
Besides, it was mentioned that I can use huawei cloud robotic team's open-source SDK, RoboSDK. Can I know where or when I can find the related documents?
Thank you!

[pure-color]

Hi! I am recently trying to build a small world demo in gazebo with the models you provided. I want to know which gazebo I should use, Ignition or Gazebo Classic? Besides, it was mentioned that I can use huawei cloud robotic team's open-source SDK, RoboSDK. Can I know where or when I can find the related documents? Thank you!

hello @junkdood,

1. we're using Gazebo Classic
2. Regarding the opening time of RoboSDK, we are still confirming with the community. It is about before the start of the OSPP program. Of course, you can pay more attention to the latest developments in the community.

[marck3131]

Hello ,
I read it a couple of times , and trying to understand this issue. All I could grab is , that there is a world file and two models provided , after launching them in gazebo , there has to be an interaction between the two models via publisher subscriber node , or some AI models or different approach.
Please correct me if I'm wrong.
Can you please break it down for me in steps or explain the final goal of this thing ?

[pure-color]

Hello , I read it a couple of times , and trying to understand this issue. All I could grab is , that there is a world file and two models provided , after launching them in gazebo , there has to be an interaction between the two models via publisher subscriber node , or some AI models or different approach. Please correct me if I'm wrong. Can you please break it down for me in steps or explain the final goal of this thing ?

hello, friend! You got it right.
There are many solutions to this issue, looking forward to your solution.

[marck3131]

hello, friend! You got it right.
There are many solutions to this issue, looking forward to your solution.

Okay!

[marck3131]

I am thinking of writing publisher-subscriber codes for the communication between robots.
There are various sensor plugins available to get the data in gazebo. Can also make use of RVIZ to visualize the sensor data if required.

[marck3131]

Do you have any particular task in mind for some communication between two robots ?

[marck3131]

Or you'd want to suggest some tasks to get started with?

[pure-color]

Or you'd want to suggest some tasks to get started with?

You can try to combine multiple open source projects to complete.
For example, the edgemesh in the kubeedge community, of course, there are other not only it.