USanz/swarm_obj_finder

Zenoh-flow project to carry out a cooperative object search between various robots conforming a robot swarm.

Introduction

ROS2 & Zenoh-flow project to carry out a cooperative object search between various robots conforming a robot swarm.

This repository contains a ROS2 foxy package to launch the simulation (Gazebo), RViz, and Nav2 nodes appart from the Zenoh-flow nodes.

There's more information about this project and how to run it in the getting started section.

All the nodes in this project were tested on Ubuntu 20.04.1 x86_64 GNU/Linux and ROS2.

Requirements

• ROS2:

  • ROS2 Foxy Fitzroy distribution.

• Simulator:

  • Gazebo

• Libraries and packages:

  • OpenCV library (for python).

  • cv_bridge library (for python).

  • Nav2.

• Zenoh and Zenoh-flow related:

  • Zenoh-bridge-dds

  • Zenoh router

  • Zenoh-flow

  • Zenoh-flow-python

Getting started

All the nodes and programs of this package were tested using Ubuntu 20.04 x84_64 GNU/Linux and ROS2 Foxy Fitzroy distro.

More information about the process to launch the nodes in the wiki.