Auto Swarm Bridge

A ROS package for multi-robot message transport based on zmqpp

This package is a separate package version of the swarm_bridage used in CREPES3

Feature

• HEADER Only, easy to use
• High Performance, capable to transfer odom message higher than 1000Hz with out fluctuation, tested on Ubuntu 18.04 / 20.04
• Automatically get self ip, and Broadcast self id and self ip using UDP.
• Automatically Connect with others Under Same Network, using TCP to transport messages in need
• ROS-like publish/subscribe API
• Capable of simulating Network Delay, by setting simulation to true and giving virtual_network_delay manually in the launch file

Usage

Install zmqpp first

sudo apt install libzmqpp-dev

See example for usage

// Initialization
SwarmBridge::Ptr swarm_bridge(new SwarmBridge(nh));

// Register subscriber
swarm_bridge->subscribe<${YOUR_MSG_TYPE}>("${YOUR_TOPIC_NAME}", [&](${YOUR_MSG_TYPE} msg){${YOUR_CODE});

// Publish
swarm_bridge->publish<${YOUR_MSG_TYPE}>("${YOUR_TOPIC_NAME}", msg);

Change ${YOUR_MSG_TYPE} into the message type you want to transfer, like nav_msgs::Odometry or visualization_msgs::Marker. Change ${YOUR_TOPIC_NAME} into the name of the topic, just like ros. Implement your customized code to substitute ${YOUR_CODE}

Sometimes there may meet situations that cannot automatically get ip in proper network. To deal with this situation, please modify the param in launch file of net_mode to manual and set self_ip and broadcast_ip under proper network.

Future work

• separate different groups for broadcast