1. Teaching Assistant: Roi Yehoshua roiyeho@gmail.com

2. Working with multi robots in ROS Handling communication and synchronization between robots Canonical multi-robot problems in ROS – Patrolling, Formation, Coverage, etc. Decision making system – We will be using CogniTAO, a decision making system developed by CogniteamCogniteam 2(C)2014 Roi Yehoshua

3. Course grade will be composed of: – 40% Assignments – 40% Project – 20% Exam 3(C)2014 Roi Yehoshua

4. My name is Roi Yehoshua PhD Student at Bar-Ilan Robotics lab headed by Prof. Gal Kaminka Teaching assistant at the courses: – Introduction to Robotics (89-685) Introduction to Robotics – Multi-Robot Systems (89-689) Multi-Robot Systems My home page: http://u.cs.biu.ac.il/~yehoshr1/http://u.cs.biu.ac.il/~yehoshr1/ 4(C)2014 Roi Yehoshua

5. Intro to Multi-Robots Systems in ROS Multi Turtlesim Demo 5(C)2014 Roi Yehoshua

6. Three options to run a multi-robot system in ROS: Running multiple instances of the same node on the same computer Running multiple nodes on different computers using one common roscore Establishing a multi-master network 6(C)2014 Roi Yehoshua

7. Now we will try to run two turtlesim nodes at the same time First start the ROS infrastructure by running in a terminal the command: Then start the first turtle simulator node by running in a new terminal: 7(C)2014 Roi Yehoshua $ roscore $ rosrun turtlesim turtlesim_node

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9. Now try to run yet another turtlesim_node in a new terminal: This naive approach does not work. Instead, the first turtle simulation terminates with a warning log and the new simulation node replaces the first one. Node names must be unique across the ROS system. If a second node is started with the same name as the first, the first will be shutdown automatically. 9(C)2014 Roi Yehoshua $ rosrun turtlesim turtlesim_node

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11. To avoid name conflicts, you need to provide a different node name for the second turtle simulator. The rosrun command does allow to assign a different name to the node You can provide a value to the __name parameter as the replacement for the default node name: 11(C)2014 Roi Yehoshua $ rosrun turtlesim turtlesim_node __name:=turtlesim2

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13. In this case the two nodes publish and subscribe to the same topics You can verify this by running the command rostopic list 13(C)2014 Roi Yehoshua

14. This means you can use the same driver to control both turtle simulations In another terminal type: Use the keys to move both turtles together 14(C)2014 Roi Yehoshua $ rosrun turtlesim turtle_teleop_key

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16. A namespace can be viewed as a directory whose contents are items of different names. – These items can be nodes, topics, services or even other namespaces. Each resource in ROS is defined within a namespace, which it may share with other resources. This encapsulation isolates different portions of the system from accidentally grabbing the wrong named resource or globally hijacking names. 16(C)2014 Roi Yehoshua

17. Examples for resource names: – / (the global namespace) – /turtle1 – /bar_ilan/robot/name – /wg/node1 17(C)2014 Roi Yehoshua

18. Usually topics related to a specific robot will be mapped into a namespace. For example, robot1 would receive commands on the topic /robot1/cmd_vel, robot2 on the topic /robot2/cmd_vel, etc. They both could exchange messages via some topic, such as /shared_topic. 18(C)2014 Roi Yehoshua

19. All nodes launch in the global namespace You can change the namespace of a node by: – Setting the ROS_NAMESPACE environment variable – Using a launch file Changing the namespace of a node effectively remaps all of the names in that node. – Node name, topics, services and parameters will be rescoped into a child namespace – This in effect "pushes it down" into a child namespace 19(C)2014 Roi Yehoshua

20. There are four types of Graph Resource Names in ROS: base, relative, global, and private, which have the following syntax: base relative/name /global/name ~private/name By default, resolution is done relative to the node's namespace. – For example, the node /wg/node1 has the namespace /wg, so the name node2 will resolve to /wg/node2. 20(C)2014 Roi Yehoshua

21. Names that start with a "/" are global - they are considered fully resolved. – Global names should be avoided as much as possible as they limit code portability. Names that start with a "~" are private. They convert the node's name into a namespace. – For example, node1 in namespace /wg/ has the private namespace /wg/node1. – Private names are useful for passing parameters to a specific node via the parameter server. 21(C)2014 Roi Yehoshua

22. 22(C)2014 Roi Yehoshua PrivateGlobalRelative (default)Node ~bar -> /node1/bar/bar -> /barbar -> /bar/node1 bar -> /wg/node2/bar/bar -> /barbar -> /wg/bar/wg/node2 ~foo/bar -> /wg/node3/foo/bar /foo/bar -> /foo/bar foo/bar -> /wg/foo/bar/wg/node3

23. We illustrate the concept of namespace with two turtle simulators driven by two instances of the draw_square driver. We will use a launch file that will run two instances of turtle_sim in two different namespaces This will ensure that the nodes have different names and also that within each simulation, nodes use different topic names. 23(C)2014 Roi Yehoshua

24. Launch files (.launch) are XML configuration files that specify the parameters to set and nodes to launch, as well as the machines that they should be run on. roslaunch is the command-line tool to run the launch file If you use roslaunch, you do not have to run roscore manually 24(C)2014 Roi Yehoshua

25. Create the file multi_turtlesim.launch 25(C)2014 Roi Yehoshua

26. The tag in a launch file is equivalent to the top-level tag and simply acts as a container for the tags within. – This means that you can use any tag as you would normally use it within a tag. It has an ns attribute that lets you push the group of nodes into a separate namespace. The namespace can be global or relative, though global namespaces are discouraged. 26(C)2014 Roi Yehoshua

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28. rqt_graph shows the active nodes and topics: 28(C)2014 Roi Yehoshua

29. Any ROS name within a node can be remapped when it is launched at the command-line. This is a powerful feature of ROS that lets you launch the same node under multiple configurations from the command-line. The names that can be remapped include the node name, topic names, and Parameter names. Remapping arguments can be passed to any node and use the syntax name:=new_name. 29(C)2014 Roi Yehoshua

30. For example, to configure turtle_teleop_key node to publish command velocities to the first turtle simulator, we first have to find out the name of the topic it publishes to This can be done by running rosnode info 30(C)2014 Roi Yehoshua

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32. Now remap the name of the topic /turtle1/cmd_vel to /sim1/turtle1/cmd_vel 32(C)2014 Roi Yehoshua $ rosrun turtlesim turtle_teleop_key /turtle1/cmd_vel:=/sim1/turtle1/cmd_vel

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34. Remapping arguments can also be done in the launch file using the tag Attributes: from="original-name“ to="new-name“ 34(C)2014 Roi Yehoshua

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36. Three options to run a multi-robot system in ROS: Running multiple instances of the same node on the same computer Running multiple nodes on different computers using one common roscore Establishing a multi-master network 36(C)2014 Roi Yehoshua

37. A running ROS system can comprise dozens of nodes, spread across multiple machines. Depending on how the system is configured, any node may need to communicate with any other node, at any time. 37(C)2014 Roi Yehoshua

38. When running only one master, ROS has certain requirements of the network configuration: – There must be complete, bi-directional connectivity between all pairs of machines, on all ports. – Each machine must advertise itself by a name that all other machines can resolve. 38(C)2014 Roi Yehoshua

39. Find your IP address by typing the command ifconfig and looking at inet addr 39(C)2014 Roi Yehoshua

40. Assume that we want to run a ROS system on two machines, with the following IP addresses: – 192.168.118.151 (machine A) – 192.168.118.154 (machine B) 40(C)2014 Roi Yehoshua

41. Ping between machines – Ping machine A from machine B and vice versa 41(C)2014 Roi Yehoshua

42. ROS_MASTER_URI is a required setting that tells nodes where they can locate the master. It should be set to the XML-RPC URI of the master. The default value is http://localhost:11311 42(C)2014 Roi Yehoshua

43. Change ROS_MASTER_URI in machine B to point to machine A IP address 43(C)2014 Roi Yehoshua $ export ROS_MASTER_URI=http://192.168.118.151:11311

44. Run the master and turtlesim on machine A Now if you type rostopic list on machine B, you should see the topics advertised from the nodes in machine A 44(C)2014 Roi Yehoshua $ roscore $ rosrun turtlesim turtlesim_node $ roscore $ rosrun turtlesim turtlesim_node

45. However, seeing the topics only shows you one direction of communication. Every computer needs to be able to talk to each other (from/to) using whatever name this is known by to ROS. The host name used by ROS is defined by ROS_IP and ROS_HOSTNAME environment variables 45(C)2014 Roi Yehoshua

46. ROS_IP and ROS_HOSTNAME are optional environment variable that sets the declared network address of a ROS Node or tool. – When a ROS component reports a URI to the master or other components, this value will be used. Use ROS_IP for specifying an IP address, and ROS_HOSTNAME for specifying a host name. – The options are mutually exclusive, if both are set ROS_HOSTNAME will take precedence. 46(C)2014 Roi Yehoshua

47. In machine A add to your.bashrc: Open a new terminal and make sure that ROS_IP is set properly 47(C)2014 Roi Yehoshua function get_ip_address { ifconfig | fgrep -v 127.0.0.1 | fgrep 'Mask:255.255.255.0' | egrep -o 'addr:[^ ]*' | sed 's/^.*://'; } export ROS_IP=$( get_ip_address ) function get_ip_address { ifconfig | fgrep -v 127.0.0.1 | fgrep 'Mask:255.255.255.0' | egrep -o 'addr:[^ ]*' | sed 's/^.*://'; } export ROS_IP=$( get_ip_address )

48. You must set ROS_IP also on machine B Add the following to your.bashrc on machine B Note that ROS_MASTER_URI on machine B points to the ROS_IP of machine A 48(C)2014 Roi Yehoshua function get_ip_address { ifconfig | fgrep -v 127.0.0.1 | fgrep 'Mask:255.255.255.0' | egrep -o 'addr:[^ ]*' | sed 's/^.*://'; } export ROS_IP=$( get_ip_address ) export ROS_MASTER_URI=http://192.168.118.151:11311 function get_ip_address { ifconfig | fgrep -v 127.0.0.1 | fgrep 'Mask:255.255.255.0' | egrep -o 'addr:[^ ]*' | sed 's/^.*://'; } export ROS_IP=$( get_ip_address ) export ROS_MASTER_URI=http://192.168.118.151:11311

49. Both computers should have ROS_IP set to their own IP address. The one on which the master runs should have ROS_MASTER_URI=http://localhost:11311 (the default) The one that connects to the master should have ROS_MASTER_URI=http://[IP_OF_MASTER_MAC HINE]:11311 49(C)2014 Roi Yehoshua

50. To test your network setup: Run roscore on machine A Run turtlesim node on machine A Now you will be able to publish messages to topics on machine A from machine B 50(C)2014 Roi Yehoshua

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53. Run three instances of turtlesim at the same time Control the first turtle with the keyboard Make the second and the third turtles follow the first one (use the mimic node) 53(C)2014 Roi Yehoshua