Multi-robot (manipulator) options/suggestions

asked 2018-03-30 20:35:27 -0500

BrettHemes gravatar image

I am curious if anyone has input or suggestions on how to handle clusters of 10+ manipulators in ROS with MoveIt!. They dont need to be awareof each other for planning purposes but it would be nice to have the ability to orchestrate and schedule nodes/actions across the whole cluster. I found multimaster_fkie which looks very close to (if not) the answer I need. In my mind with this setup each arm gets its own PC/master/movegroup/etc with some shared topics across machines/masters. Lots of PCs with this setup but it seems to me it should scale well.

Are there any other options and/or networking tips/concerns I should consider?

Thanks Brett

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Actually, upon further reading, a multi-master approach might be a bit overkill. I am going to first try a physical LAN with a single shared ROS master and see what the network traffic looks like.

BrettHemes gravatar image BrettHemes  ( 2018-04-10 08:01:20 -0500 )edit