ROS2swarm

ROS2swarm is a ROS 2 package intended to simplify and promote the use of ROS 2 in swarm robotics research, industry, and education. It is an easy-to-extend framework for and library of swarm behaviors.

ROS2swarm provides movement patterns for robot motion and voting patterns for collective decision-making. We distinguish between basic patterns that implement primitive swarm behaviors and combined patterns that implement more complex behaviors. Parameter files allow the adjustment of patterns for different robot platforms and scenarios. In addition, we included a hardware protection layer to prevent hardware damage.

The package is available for Dashing and Foxy since our main development platform is the TurtleBot3 Waffle Pi. Furthermore, we provide out-of-the-box support for the TurtleBot3 Burger, the Thymio II and the Jackal UGV (using the ros1_bridge package). We also provide simulations in Gazebo for all platforms to simplify development. New platforms that provide distance measurements and are controlled by linear velocities along the x-axis and rotational velocities around the z-axis can easily be added.

Currently, we are working on enabling local communication and adding more (complex) swarm behaviors.

Please contact us if you want to contribute or if you have suggestions for new features.