Re: [ros-users] Multi Robot System

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Re: [ros-users] Multi Robot System

Ken Conley
Hi Markus,

There are different approaches to the system you describe. I believe
the researchers at Wash-U worked on rosmultimaster, which is a Python
bridge for accessing multiple masters:

http://www.ros.org/wiki/rosmultimaster

There are also various ways of creating the "Bridge node" you
describe. The ROS Master API uses XML-RPC, which is extremely simple
to write for. The documentation is here:

http://www.ros.org/wiki/ROS/Master_API

Rather than fully bridging all nodes, it's probably easiest to forward
registrations for the select nodes that you wish to be sharing
communication. This has been done, for example, to communicate with
nodes on the other side of firewalls.

In the future, we plan on working on a bridging solution that will
allow you 'mount' a master in the namespace of another. However, we
plan on doing some other upgrades in the ROS core system first.

best,
Ken

On Wed, Jan 20, 2010 at 1:37 AM, Markus Eich <[hidden email]> wrote:

> Dear all,
>
>
>
> I have a question about using ROS in a multi robot system. As far as I
> understood it, there has to be one Master Server and the systems are
> operating, using different name spaces, one for each robot.
>
>
>
> In our setup we have the requirement that the robots are not always able to
> communicate with each other all the time, so we would need one Maser server
> on each robot in order to make the other nodes work (e.g laser scanner,
> odometrie, amcl).
>
>
>
> Is there a straight forward way that the robots are able to exchange data
> once the communication is established between the different master nodes?
>
>
>
> On possibility which comes to my mind is using a dedicated “Bridge-Node”
> which is looking dynamically for other ROS Masters within reach and update
> the information of the different sub systems (e.g. current position of each
> robot, individual generated maps, etc)
>
>
>
> Would ROS be suitable for this application?
>
>
>
>
>
> Cheers,
>
>
>
> Markus
>
>
>
>
>
>
>
> Dipl. Inf. Markus Eich
>
> Researcher
>
> Bereich Logistik
>
>
>
> DFKI Bremen
>
> Robotics Innovation Center
>
> Robert-Hooke-Straße 5
>
> 28359 Bremen, Germany
>
>
>
> Phone: +49 (0)421 218-64100
>
> Fax:   +49 (0)421 218-64150
>
> E-Mail: [hidden email]
>
>
>
> Weitere Informationen: http://www.dfki.de/robotik
>
> -----------------------------------------------------------------------
>
> Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
>
> Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
>
> Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
>
> (Vorsitzender) Dr. Walter Olthoff
>
> Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes Amtsgericht
> Kaiserslautern, HRB 2313 Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
>
> USt-Id.Nr.:    DE 148646973
>
> Steuernummer:  19/673/0060/3
>
> -----------------------------------------------------------------------
>
>
>
> ------------------------------------------------------------------------------
> Throughout its 18-year history, RSA Conference consistently attracts the
> world's best and brightest in the field, creating opportunities for
> Conference
> attendees to learn about information security's most important issues
> through
> interactions with peers, luminaries and emerging and established companies.
> http://p.sf.net/sfu/rsaconf-dev2dev
> _______________________________________________
> ros-users mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/ros-users
>
>

------------------------------------------------------------------------------
Throughout its 18-year history, RSA Conference consistently attracts the
world's best and brightest in the field, creating opportunities for Conference
attendees to learn about information security's most important issues through
interactions with peers, luminaries and emerging and established companies.
http://p.sf.net/sfu/rsaconf-dev2dev
_______________________________________________
ros-users mailing list
[hidden email]
https://lists.sourceforge.net/lists/listinfo/ros-users
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Re: [ros-users] Multi Robot System

Erik Karulf
I just wanted to chime in. I'm in the process of updating rosmultimaster to support ROS 1.0.0

Tech Details: I dynamically generate node names but I am not enforcing the naming conventions.

I'm updating our shared build in the lab now and I should have the updated node pushed to our sourceforge repository by the end of the weekend.

Cheers!
--Erik


On Fri, Jan 22, 2010 at 3:22 AM, Ken Conley <[hidden email]> wrote:
Hi Markus,

There are different approaches to the system you describe. I believe
the researchers at Wash-U worked on rosmultimaster, which is a Python
bridge for accessing multiple masters:

http://www.ros.org/wiki/rosmultimaster

There are also various ways of creating the "Bridge node" you
describe. The ROS Master API uses XML-RPC, which is extremely simple
to write for. The documentation is here:

http://www.ros.org/wiki/ROS/Master_API

Rather than fully bridging all nodes, it's probably easiest to forward
registrations for the select nodes that you wish to be sharing
communication. This has been done, for example, to communicate with
nodes on the other side of firewalls.

In the future, we plan on working on a bridging solution that will
allow you 'mount' a master in the namespace of another. However, we
plan on doing some other upgrades in the ROS core system first.

best,
Ken

On Wed, Jan 20, 2010 at 1:37 AM, Markus Eich <[hidden email]> wrote:
> Dear all,
>
>
>
> I have a question about using ROS in a multi robot system. As far as I
> understood it, there has to be one Master Server and the systems are
> operating, using different name spaces, one for each robot.
>
>
>
> In our setup we have the requirement that the robots are not always able to
> communicate with each other all the time, so we would need one Maser server
> on each robot in order to make the other nodes work (e.g laser scanner,
> odometrie, amcl).
>
>
>
> Is there a straight forward way that the robots are able to exchange data
> once the communication is established between the different master nodes?
>
>
>
> On possibility which comes to my mind is using a dedicated “Bridge-Node”
> which is looking dynamically for other ROS Masters within reach and update
> the information of the different sub systems (e.g. current position of each
> robot, individual generated maps, etc)
>
>
>
> Would ROS be suitable for this application?
>
>
>
>
>
> Cheers,
>
>
>
> Markus
>
>
>
>
>
>
>
> Dipl. Inf. Markus Eich
>
> Researcher
>
> Bereich Logistik
>
>
>
> DFKI Bremen
>
> Robotics Innovation Center
>
> Robert-Hooke-Straße 5
>
> 28359 Bremen, Germany
>
>
>
> Phone: +49 (0)421 218-64100
>
> Fax:   +49 (0)421 218-64150
>
> E-Mail: [hidden email]
>
>
>
> Weitere Informationen: http://www.dfki.de/robotik
>
> -----------------------------------------------------------------------
>
> Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
>
> Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
>
> Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
>
> (Vorsitzender) Dr. Walter Olthoff
>
> Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes Amtsgericht
> Kaiserslautern, HRB 2313 Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
>
> USt-Id.Nr.:    DE 148646973
>
> Steuernummer:  19/673/0060/3
>
> -----------------------------------------------------------------------
>
>
>
> ------------------------------------------------------------------------------
> Throughout its 18-year history, RSA Conference consistently attracts the
> world's best and brightest in the field, creating opportunities for
> Conference
> attendees to learn about information security's most important issues
> through
> interactions with peers, luminaries and emerging and established companies.
> http://p.sf.net/sfu/rsaconf-dev2dev
> _______________________________________________
> ros-users mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/ros-users
>
>

------------------------------------------------------------------------------
Throughout its 18-year history, RSA Conference consistently attracts the
world's best and brightest in the field, creating opportunities for Conference
attendees to learn about information security's most important issues through
interactions with peers, luminaries and emerging and established companies.
http://p.sf.net/sfu/rsaconf-dev2dev
_______________________________________________
ros-users mailing list
[hidden email]
https://lists.sourceforge.net/lists/listinfo/ros-users


------------------------------------------------------------------------------
Throughout its 18-year history, RSA Conference consistently attracts the
world's best and brightest in the field, creating opportunities for Conference
attendees to learn about information security's most important issues through
interactions with peers, luminaries and emerging and established companies.
http://p.sf.net/sfu/rsaconf-dev2dev
_______________________________________________
ros-users mailing list
[hidden email]
https://lists.sourceforge.net/lists/listinfo/ros-users