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Any Package for Swarm implementation in ROS..?

asked 2013-03-01 00:40:12 -0500

Cybertron gravatar image

updated 2014-01-28 17:15:28 -0500

ngrennan gravatar image

Is their any specific package for implementation of swarm intelligence for mobile robots using ROS ; As it greatly supports Master(roscore) and multiple Slave (Nodes)paradigm.

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answered 2013-03-01 05:03:03 -0500

prasanna.kumar gravatar image

updated 2013-03-01 05:08:29 -0500

You might get an answer if you go through this.

I guess you have misunderstood the concept of ROS_MASTER. It is true that roscore is the master (in robotless scenario) but not in the sense you have understood and other nodes running are not slave nodes. roscore is not a single node, it is a collection of nodes needed to run a ROS system. Master node is the one that keeps track of other nodes, services, topics etc. Read more here and here. Of course you can write nodes for swarm robotics where one node acts as a master and others are slaves but relationship between roscore and other nodes is not the proper analogy.

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Thank u ..

Cybertron gravatar imageCybertron ( 2013-03-01 05:48:30 -0500 )edit
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answered 2013-03-01 09:27:45 -0500

I dont think there is a specific package for swarm implementation. But if u want to use multiple robots working together, sharing information then it can be easily implemented on ROS. All u have to make sure is that a single ROSCORE runs on every system/robot. This would require setting up of network between all the systems. Then u can start roscore on any one of them and treat that as master and all the other system will run the same roscore and share information between them. This tutorial discusses network setup for ROS http://www.ros.org/wiki/Robots/TurtleBot/Network%20Setup

Hope this helps..

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Asked: 2013-03-01 00:40:12 -0500

Seen: 912 times

Last updated: Mar 01 '13