文件列表:

adlink_ddsbot-release-1.0 (0, 2020-04-20)
adlink_ddsbot-release-1.0\CMakeLists.txt (1228, 2020-04-20)
adlink_ddsbot-release-1.0\LICENSE (11355, 2020-04-20)
adlink_ddsbot-release-1.0\cfg (0, 2020-04-20)
adlink_ddsbot-release-1.0\cfg\SwarmLayer.cfg (291, 2020-04-20)
adlink_ddsbot-release-1.0\costmap_plugins.xml (223, 2020-04-20)
adlink_ddsbot-release-1.0\document (0, 2020-04-20)
adlink_ddsbot-release-1.0\document\Next-Gen_Smart_Manufacturing.pdf (4581170, 2020-04-20)
adlink_ddsbot-release-1.0\document\adlink_ddsbot_hardarch.jpg (169548, 2020-04-20)
adlink_ddsbot-release-1.0\document\adlink_ddsbot_nodes.png (442536, 2020-04-20)
adlink_ddsbot-release-1.0\document\adlink_ddsbot_softarch.jpg (192895, 2020-04-20)
adlink_ddsbot-release-1.0\document\arduino (0, 2020-04-20)
adlink_ddsbot-release-1.0\document\arduino\Razor_AHRS (0, 2020-04-20)
adlink_ddsbot-release-1.0\document\arduino\Razor_AHRS\Compass.ino (595, 2020-04-20)
adlink_ddsbot-release-1.0\document\arduino\Razor_AHRS\DCM.ino (4673, 2020-04-20)
adlink_ddsbot-release-1.0\document\arduino\Razor_AHRS\Math.ino (2187, 2020-04-20)
adlink_ddsbot-release-1.0\document\arduino\Razor_AHRS\Output.ino (4333, 2020-04-20)
adlink_ddsbot-release-1.0\document\arduino\Razor_AHRS\Razor_AHRS.ino (32956, 2020-04-20)
adlink_ddsbot-release-1.0\document\arduino\Razor_AHRS\Sensors.ino (6483, 2020-04-20)
adlink_ddsbot-release-1.0\document\arduino\motor_control (0, 2020-04-20)
adlink_ddsbot-release-1.0\document\arduino\motor_control\motor_control.ino (12741, 2020-04-20)
adlink_ddsbot-release-1.0\document\arduino\motor_control\motor_control.ino~ (12052, 2020-04-20)
adlink_ddsbot-release-1.0\document\arduino\motor_control\python (0, 2020-04-20)
adlink_ddsbot-release-1.0\document\arduino\motor_control\python\example.py (1486, 2020-04-20)
adlink_ddsbot-release-1.0\document\arduino\motor_control\python\motor_control (0, 2020-04-20)
adlink_ddsbot-release-1.0\document\arduino\motor_control\python\motor_control\__init__.py (2173, 2020-04-20)
adlink_ddsbot-release-1.0\document\arduino\motor_control\python\requirements.txt (28, 2020-04-20)
adlink_ddsbot-release-1.0\document\arduino\motor_control\python\test.py (1777, 2020-04-20)
adlink_ddsbot-release-1.0\document\commands (0, 2020-04-20)
adlink_ddsbot-release-1.0\document\commands\image_backup_commands (116, 2020-04-20)
adlink_ddsbot-release-1.0\document\commands\map_save_commands (199, 2020-04-20)
adlink_ddsbot-release-1.0\document\commands\udev_commands (642, 2020-04-20)
adlink_ddsbot-release-1.0\document\hardware (0, 2020-04-20)
adlink_ddsbot-release-1.0\document\hardware\adlink_ddsbot_hardware.pdf (1009263, 2020-04-20)
adlink_ddsbot-release-1.0\document\replace_files (0, 2020-04-20)
adlink_ddsbot-release-1.0\document\replace_files\rf2o (0, 2020-04-20)
adlink_ddsbot-release-1.0\document\replace_files\rf2o\CLaserOdometry2D.cpp (33241, 2020-04-20)
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# ADLink DDSBot (ROS 1/2 based swarm robots architecture) ## Abstract Swarm robots using Opensplice DDS with ROS 1&2 [Official Slides] [Youtube Video] [](https://www.youtube.com/watch?v=7ZIDkLKD4Y8) ## Developer & Team HaoChih Lin (haochih.lin@adlinktech.com) Chester Tseng (chester.tseng@adlinktech.com) Erik Boasson (erik.boasson@adlinktech.com) Ryan Chen (ryanjb.chen@adlinktech.com) ADLINK Technology, Inc Advanced Robotic Platform Group ## License Apache 2.0 Copyright 2017 ADLINK Technology, Inc. ## Software Architecture  ## Hardware Architecture  Build your own low-cost ddsbot (~250USD) [Assembling PDF] [adlink_ddsbot/document/hardware/adlink_ddsbot_hardware.pdf](https://github.com/Adlink-ROS/adlink_ddsbot/blob/release-1.0/document/hardware/adlink_ddsbot_hardware.pdf) [Arduino firmware] For UNO (motor control): adlink_ddsbot/document/arduino/motor_control/motor_control.ino For Nano (GY85 IMU): adlink_ddsbot/document/arduino/Razor_AHRS/Razor_AHRS.ino ## Tutorial ### System prerequisite [Desktop] * ROS 1 (Kinetic: * ROS 2 (tested on Ardent) * create your own catkin_ws ( * Install required dependencies: `$ sudo apt-get install git ros-kinetic-navigation ros-kinetic-geographic-msgs ros-kinetic-slam-gmapping ros-kinetic-mrpt-slam ros-kinetic-mrpt-icp-slam-2d ros-kinetic-robot-localization ros-kinetic-stage* -y` * `git clone adlink_ddsbot to your catkin_ws/src and compile` ### Simulation (stage, two computers) 1. Check the hostname (should be unique in the network) 2. Check the system time synchronization ($ sudo ntpdate IP_TARGET) 3. Open a terminal (remember to source ros2 & ros1 setup.bash) 4. `$ export HOSTNAME` 5. `$ roslaunch adlink_ddsbot Swarm_Sim_Stage.launch` 6. `$ ros2 run ros1_bridge parameter_bridge` 7. Repeat the same steps on another computer/robot (both should be in the same network) 8. Then, each robot can be aware of all the others shown on the rviz. ### Real robot (raspberryPi3) [Image files] Download pre-built image for Pi3 (ubuntu mate 16.04, ros 1&2, 13GB) link: Extract the file from .gz file: `$ gunzip -c ADLINK_DDSBot_Pi3_20171002.img.gz > ADLINK_DDSBot_Pi3_20171002.img` Burn image file to SD card [Setup steps] 1. Connect Pi3 with your desktop by either ethernet cable or debug cable 2. Power-on and login: (passward is: adlinkros) * hdmi display: you can see the ADLink logo on the desktop * ethernet: the default id address of provided image is 10.0.0.1 (`$ ssh pi@10.0.0.1`) * debug cable: enter the password 3. Change robot's hostname and connect to local network 4. Synchronize the system time through AP server/specific computer (`$ sudo ntpdate IP_ADDRESS`) 5. Change the ROS 1 multi-machines variables in .bashrc (for each robot, it has own roscore) 6. For Single robot test: `$ roslaunch adlink_ddsbot Adlink_DDSBot_Nav_Single.launch` 7. For Swarm robots demo: * `$ roslaunch adlink_ddsbot Adlink_DDSBot_Nav_Swarm.launch` * `$ ros2 run ros1_bridge parameter_bridge` 8. Using remote computer to initial & set goal for the ddsbot through RVIZ 9. Do the same thing on another ddsbots (in the same network), once the ros1_bridge has been executed, all others ddsbots can be visualized on RVIZ. [Node Graph] 

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