ChoiRbot

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ChoiRbot is a ROS 2 toolbox developed within the excellence research program ERC in the project OPT4SMART. ChoiRbot provides a comprehensive set of libraries to execute complex distributed multi-robot tasks, such as model predictive control and task assignment, either in simulation or experimentally. The toolbox focuses on networks of heterogeneous robots without a central coordinator. It provides utilities for the solution of distributed optimization problems and can be also used to implement distributed feedback laws. Specifically, the package allows you to

Encode distributed optimization and control algorithms
Perform peer-to-peer communications among robots
Develop planning and control schemes
Connect with external motion capture hardware (see also our ROS 2 Vicon Bridge)
Run experiments on your robotic fleet
Perform realistic simulations with Gazebo and visualize data with RVIZ

Requirements and Installation

ChoiRbot requires ROS 2 Dashing Diademata to be installed on your system.

It relies on

numpy
scipy
recordclass
dill
disropt (optional, but required for several features)

Please, refer to the installation page for a more detailed installation guide.

To install the toolbox, first source your ROS 2 installation. Then create a ROS 2 workspace and, inside the src directory, run:

git clone https://github.com/OPT4SMART/ChoiRbot.git .

Then, from the parent directory execute:

colcon build --symlink-install

Getting started

Citing ChoiRbot

If you are you using ChoiRbot in research work to be published, please cite the accompanying paper

@article{testa2021choirbot,
    title={ChoiRbot: A ROS 2 toolbox for cooperative robotics},
    author={Testa, Andrea and Camisa, Andrea and Notarstefano, Giuseppe},
    journal={IEEE Robotics and Automation Letters},
    volume={6},
    number={2},
    pages={2714--2720},
    year={2021},
    publisher={IEEE}
}

Contributors

ChoiRbot is developed by Andrea Testa, Andrea Camisa and Giuseppe Notarstefano

Acknowledgements

This result is part of a project that has received funding from the European Research Council (ERC) under the European Union's Horizon 2020 research and innovation programme (grant agreement No 638992 - OPT4SMART).

OPT4SMART / ChoiRbot