Merge pull request #110 from buptwjf/multi_robot_v1

Multi-robot simulation demo v1

sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/cloud/Cloud.launch

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+<?xml version="1.0"?>
+
+<launch>
+
+<arg name="room"                                default="cave"      />
+<arg name="launch_rviz"                         default="true"      />
+<arg name="launch_stage"                        default="true"      />
+<arg name="launch_map_server"                   default="true"      />
+<arg name="launch_multi_robot_route_planner"    default="true"      />
+<arg name="launch_local_controller"             default="true"      />
+<arg name="launch_local_controller_one_for_all" default="false"      />
+<arg name="nr_of_robots"                        default="3"         /> 
+
+<arg name="launch_graph_generator"              default="true"      />
+<arg name="cfg"                                 default="default"   />
+<arg name="launch_path_synchronizer"            default="false"     />
+<arg name="load_segments"                       default="false"     />
+<arg name="map_name"                            default=""          />
+<arg name="update_rate_info"                    default="1.0"       />
+
+<!-- map server -->
+<group if="$(arg launch_map_server)">
+  <include file="$(find tuw_multi_robot_demo)/launch/map_server.launch">
+    <arg name="room" value="$(arg room)" />
+  </include>
+</group>
+
+<!-- <group if="$(arg launch_stage)">
+  <include file="$(find tuw_multi_robot_demo)/launch/stage.launch">
+    <arg name="room" value="$(arg room)" />
+  </include>
+</group> -->
+
+<group if="$(arg launch_graph_generator)">
+  <group if="$(arg load_segments)">
+  <include file="$(find tuw_multi_robot_demo)/launch/graph_generator.launch">
+    <arg name="cfg" value="$(arg room)" />
+    <arg name="custom_graph_path" value="$(find tuw_multi_robot_demo)/cfg/graph/$(arg room)/cache/$(arg map_name)" />
+  </include>
+  </group>
+  <group unless="$(arg load_segments)">
+  <include file="$(find tuw_multi_robot_demo)/launch/graph_generator.launch">
+    <arg name="cfg" value="$(arg room)" />
+  </include>
+  </group>
+</group>
+
+<group if="$(arg launch_multi_robot_route_planner)">
+  <include file="$(find tuw_multi_robot_demo)/launch/multi_robot_route_planner.launch">
+    <arg name="cfg" value="$(arg cfg)" />
+  </include>
+</group>
+
+<!-- start rviz -->
+<group if="$(arg launch_rviz)">
+  <include file="$(find tuw_multi_robot_demo)/launch/rviz.launch">
+  <arg name="cfg" value="$(arg room)"/> 
+  </include>
+</group>
+
+</launch>

sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/cloud/Dockerfile

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+# enviroment core
+
+ARG [email protected]
+ARG ROOT_CONTAINER=$OWNER/${ROS_DISTRO}-enviroment-core
+
+FROM ubuntu as intermediate
+
+# install git
+RUN apt-get update
+RUN apt-get install -y git
+
+# add credentials on build
+ARG SSH_PRIVATE_KEY
+RUN mkdir /root/.ssh/
+RUN echo "${SSH_PRIVATE_KEY}" > /root/.ssh/id_rsa
+RUN chmod 600 /root/.ssh/id_rsa
+
+# Add git providers to known_hosts
+RUN touch /root/.ssh/known_hosts
+RUN ssh-keyscan github.com >> /root/.ssh/known_hosts
+
+RUN git clone --branch master  [email protected]:tuw-robotics/rosaria.git             p3dx/src/rosaria
+RUN git clone --branch master  [email protected]:tuw-robotics/tuw_p3dx.git            p3dx/src/tuw_p3dx
+
+FROM $ROOT_CONTAINER
+USER root
+
+ENV PRJ_DIR=${MY_HOME}/projects/p3dx
+
+RUN apt-get update && apt-get -y upgrade
+
+# Install locale and set
+RUN apt-get install -y iputils-ping bash-completion
+
+COPY --chown=${MY_USER}:${MY_USER} --from=intermediate /p3dx ${PRJ_DIR}
+COPY --chown=${MY_USER}:${MY_USER} --from=intermediate /root/.ssh ${MY_HOME}/.ssh
+
+RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash;  cd ${PRJ_DIR}/;  rosdep update;  rosdep install -i --from-path src --rosdistro noetic -y'
+# ros-${ROS_DISTRO}-hokuyo-node
+USER ${MY_USER}
+
+
+
+RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash;             cd ${PRJ_DIR}; catkin_make'
+RUN echo 'source ${PRJ_DIR}/devel/setup.bash' >> ~/.bashrc
+RUN echo 'roslaunch tuw_p3dx aria_twist.launch'  >> ~/.bash_history
+# clean apt
+USER root
+RUN rm -rf ${MY_HOME}/.ros
+#RUN apt-get autoclean && apt-get autoremove && rm -rf /var/lib/apt/lists/*
+
+USER ${MY_USER}
+WORKDIR ${PRJ_DIR}
+ENV HOME=${MY_HOME}
+COPY --chown=${MY_USER}:${MY_USER} ./cloud.sh /
+ENTRYPOINT ["/cloud.sh"]
+CMD [/bin/bash]

sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/cloud/cloud.sh

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+#!/bin/bash
+#script to run with a host network
+#export ROS_MASTER_URI=http://$(hostname --ip-address):11311
+#export ROS_HOSTNAME=$(hostname --ip-address)
+# setup ros environment
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+source "${PRJ_DIR}/devel/setup.bash"
+roslaunch tuw_multi_robot_demo Cloud.launch room:=cave nr_of_robots:=3

sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/edge/Dockerfile

@@ -0,0 +1,58 @@
+# enviroment core
+
+
+ARG [email protected]
+ARG ROOT_CONTAINER=$OWNER/${ROS_DISTRO}-enviroment-core
+
+FROM ubuntu as intermediate
+
+# install git
+RUN apt-get update
+RUN apt-get install -y git
+
+# add credentials on build
+ARG SSH_PRIVATE_KEY
+RUN mkdir /root/.ssh/
+RUN echo "${SSH_PRIVATE_KEY}" > /root/.ssh/id_rsa
+RUN chmod 600 /root/.ssh/id_rsa
+
+# Add git providers to known_hosts
+RUN touch /root/.ssh/known_hosts
+RUN ssh-keyscan github.com >> /root/.ssh/known_hosts
+
+RUN git clone --branch master  [email protected]:tuw-robotics/rosaria.git             p3dx/src/rosaria
+RUN git clone --branch master  [email protected]:tuw-robotics/tuw_p3dx.git            p3dx/src/tuw_p3dx
+
+FROM $ROOT_CONTAINER
+USER root
+
+ENV PRJ_DIR=${MY_HOME}/projects/p3dx
+
+RUN apt-get update && apt-get -y upgrade
+
+# Install locale and set
+RUN apt-get install -y iputils-ping bash-completion
+
+COPY --chown=${MY_USER}:${MY_USER} --from=intermediate /p3dx ${PRJ_DIR}
+COPY --chown=${MY_USER}:${MY_USER} --from=intermediate /root/.ssh ${MY_HOME}/.ssh
+
+RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash;  cd ${PRJ_DIR}/;  rosdep update;  rosdep install -i --from-path src --rosdistro noetic -y'
+# ros-${ROS_DISTRO}-hokuyo-node
+USER ${MY_USER}
+
+
+
+RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash;             cd ${PRJ_DIR}; catkin_make'
+RUN echo 'source ${PRJ_DIR}/devel/setup.bash' >> ~/.bashrc
+RUN echo 'roslaunch tuw_p3dx aria_twist.launch'  >> ~/.bash_history
+# clean apt
+USER root
+RUN rm -rf ${MY_HOME}/.ros
+#RUN apt-get autoclean && apt-get autoremove && rm -rf /var/lib/apt/lists/*
+
+USER ${MY_USER}
+WORKDIR ${PRJ_DIR}
+ENV HOME=${MY_HOME}
+COPY --chown=${MY_USER}:${MY_USER} ./edge.sh /
+ENTRYPOINT ["/edge.sh"]
+CMD [/bin/bash]

sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/edge/edge.launch

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+<?xml version="1.0"?>
+
+<launch>
+
+<arg name="room"                                default="cave"      />
+<arg name="launch_rviz"                         default="true"      />
+<arg name="launch_stage"                        default="true"      />
+<arg name="launch_map_server"                   default="true"      />
+<arg name="launch_multi_robot_route_planner"    default="true"      />
+<arg name="launch_local_controller"             default="true"      />
+<arg name="launch_local_controller_one_for_all" default="false"      />
+<arg name="nr_of_robots"                        default="3"         /> 
+
+<arg name="launch_graph_generator"              default="true"      />
+<arg name="cfg"                                 default="default"   />
+<arg name="launch_path_synchronizer"            default="false"     />
+<arg name="load_segments"                       default="false"     />
+<arg name="map_name"                            default=""          />
+<arg name="update_rate_info"                    default="1.0"       />
+
+
+<group if="$(arg launch_stage)">
+  <include file="$(find tuw_multi_robot_demo)/launch/stage.launch">
+    <arg name="room" value="$(arg room)" />
+  </include>
+</group>
+
+<group if="$(arg launch_path_synchronizer)">
+  <include file="$(find tuw_multi_robot_demo)/launch/path_synchronizer.launch">
+    <arg name="cfg" value="$(arg cfg)" />
+  </include>
+</group>
+
+<group if="$(arg launch_local_controller)">
+  <group if="$(arg launch_local_controller_one_for_all)">  
+    <include file="$(find tuw_multi_robot_demo)/launch/local_multi_robot_controller.launch">
+      <arg name="nr_of_robots" value="$(arg nr_of_robots)" />
+      <arg name="update_rate_info" value="$(arg update_rate_info)" />
+      <arg name="node_name" value="local_controller_one_for_all" />
+    </include>
+  </group>
+  <group unless="$(arg launch_local_controller_one_for_all)">
+    <include file="$(find tuw_multi_robot_demo)/launch/local_controller_recursive.launch">
+      <arg name="nr_of_robots" default="$(arg nr_of_robots)"/> 
+      <arg name="robot_name_prefix" default="robot_"/>
+    </include>
+  </group>
+</group> 
+
+
+</launch>

sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/edge/edge.sh

@@ -0,0 +1,8 @@
+#!/bin/bash
+#script to run with a host network
+#export ROS_MASTER_URI=http://$(hostname --ip-address):11311
+#export ROS_HOSTNAME=$(hostname --ip-address)
+# setup ros environment
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+source "${PRJ_DIR}/devel/setup.bash"
+roslaunch tuw_multi_robot_demo edge.launch 

sig-robotics/examples/Simulation-of-multi-robot-cooperation-based-on-KubeEdge/readme.md

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+## README
+
+### Environment
+
+**Cloud**:
+
+- ubuntu 20.04
+- ROS - neotic 
+- OpencCV 4.5
+
+**Edge**
+
+- ubuntu 20.04
+- ROS - neotic 
+
+### Setup
+
+**Step 1**: You should set the ROS host on the cloud and the edge, and install the relevant dependencies
+
+**Cloud**
+
+```
+sudo apt install libdxflib-dev
+sudo apt install ros-neotic-map-server
+
+# ~/.bash add
+export ROS_MASTER_URI=http://CLOUD_IP:11311
+export ROS_HOSTNAME=CLOUD_HOSTNAME
+export ROS_IP=CLOUD_IP
+source ~/.bashrc
+```
+
+**Edge**
+
+```
+sudo apt install ros-neotic-stage-ros
+
+# ~/.bash add
+export ROS_MASTER_URI=http://EDGE_IP:11311
+export ROS_HOSTNAME=EDGE_HOSTNAME
+export ROS_IP=CLOUD_IPCD ..
+source ~/.bashrc
+```
+
+
+
+### **Edge Install and Run**
+
+```
+cd edge_ws/
+git clone --branch $ROS_VERSION [email protected]:tuw-robotics/tuw_geometry.git 
+git clone [email protected]:tuw-robotics/tuw_msgs.git 
+catkin_make
+source devel/setup.bash
+roslaunch tuw_multi_robot_demo edge.launch 
+```
+
+**Step 2**:  First run the edge node, and you will see three robots in the environment in the window, and the terminal displays that three robots have been successfully online.
+
+**Edge_show**
+
+![edge_show](images/edge_show.png)
+
+**Edge ROS node**
+
+![cloud_node](images/cloud_node-16669964198223.png)
+
+### **Cloud Install and Run**
+
+```
+cd cloud_ws/
+git clone --branch $ROS_VERSION [email protected]:tuw-robotics/tuw_geometry.git 
+git clone [email protected]:tuw-robotics/tuw_msgs.git 
+catkin_make
+source devel/setup.bash
+roslaunch tuw_multi_robot_demo Cloud.launch room:=cave nr_of_robots:=3
+```
+
+**Step 3**: Run the cloud node. At this time, you will see the rviz interface and generate the split path node. You can set the target point positions for the three robots in order.
+
+**Cloud show**
+
+![cloud_show](images/cloud_show.png)
+
+**Cloud ROS node**
+
+![cloud_node](images/cloud_node.png)