Development of a wireless communication platform for multiple-mobile robots using ROS

Abstract

The MiniLab Enova mobile robot is presented in this paper. The main aim is to implement multi-master systems for managing a wireless communication network of multiple robots. A communication control scheme for multiple MiniLab Enova mobile robots was developed using ROS (Robot Operating System). ROS multi-master system is build from two or more ROS networks, each one with its own roscore node. For multiple robots, there are namespace conflict with ROS topics in a single master system. This limitation can be overcome using multiple masters. With this framework, it is possible to control the movement of multiple robots via a wireless communication network using only one monitoring computer.