Multi-3 Adaptive Coordination of Robots

The repo contains the software for the Adaptive Multi-Robot Coordination platform Multi-3. It is a ROS2 workspace that contains the following packages:

• multi3_coordinator: The mission controller that orchestrates the execution of the mission and sends the mission fragments to the executor robots.
• multi3_executor: This package contains the node that should be run in each robot involved in the mission, it should receive the mission fragments sent by the mission controller and execute them.
• multi3_interfaces: This package implements the interfaces utilized by the mission controller to send the mission fragments and communicate with the robots.
• multi3_tests: Run automated tests by spawning different configuration and mission specifications and evaluate the framework.

To perform the tests

• Edit the test configuration in src/multi3_tests/config/test_config.json to adjust the mission size, robot count and other parameters about the tests.
• Execute ros2 run multi3_tests generate to generate all the test specifications.
• Run the tests automatically with python3 run_tests.py (This script will look for the test files generated with the previous command, that are stored in src/multi3_tests/multi3_tests/tests)

Data Analysis

The script analyze.py reads the log output of each run of the tests and computes metrics such as completion time and average idle time. The script in data_analysis.py creates a Pandas Dataframe with all the tests' metrics.

To run one particular test

• Execute ros2 launch multi3_tests test.launch.py test_id:=<test_name>

Real Robot Navigation with Multi-3

For starting the system, one must start the navigation nodes for each of the executor robots: [Changing the namespace variable to match the robot]

ros2 launch turtlebot4_navigation load_nav.launch.py namespace:=/Turtlebot_02490 map:=<path/to/map.yaml>

ros2 launch turtlebot4_viz view_robot.launch.py namespace:=/Turtlebot_02490