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multiple turtlebots on wireless network

asked 2013-06-20 10:01:14 -0500

andrewlybarger gravatar image

updated 2013-11-18 07:16:40 -0500

tfoote gravatar image

I have 10 turtlebots (version 1, the white one) that I'm trying to operate on a wifi network (g wireless standard). Any three of them together work fine but as soon as I add a fourth the turtlebot_node starts throwing lots of error messages about not being able to read data from the iCreate properly and the system grinds to a halt. I switched it over to a wired network and got all 10 running great with a peak network bandwidth of 9KBps, which isn't really that much. Is there something specific to the turtlebot_node that struggles with message latency or wifi in general?

Right now my alternatives are:

  1. rewrite the turtlebot_node to make it more tolerant of infrequent message
  2. combine all the nodes on each turtlebot using nodelets
  3. reorganize the system as a multi-master network, with one master on each turtlebot
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Hi, how are they running in the same network? Are they running independently or they can share topics?

Rafael gravatar image Rafael  ( 2013-06-24 12:10:08 -0500 )edit

I'm quite certain that it is possible to run 4 or more turtlebots together, the question is does the stock turtlebot_node need to modified or the network/ros configuration. Right now all of the turtlebots are using a single ros master, which is running on my desktop machine.

andrewlybarger gravatar image andrewlybarger  ( 2013-06-26 07:18:11 -0500 )edit

Thanks Andrew, I have a question setup regarding how to do that single ros master multi-robot config. I would be very grateful if you could please take a look at it and give me an idea of how you got this to work. I tried it with namespaces following a suggestion here but it has been a dead end.

Rafael gravatar image Rafael  ( 2013-06-26 10:13:00 -0500 )edit

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answered 2013-06-20 10:49:16 -0500

tfoote gravatar image

I suggest that you debug a little bit deeper into the root cause. I know of demos with 4 or more TurtleBots on the same wireless network.

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Asked: 2013-06-20 10:01:14 -0500

Seen: 375 times

Last updated: Jun 20 '13