Multi-Robot ROS 1 and a Webots Zumo Swarm
Kobuki TurtleBots in Gazebo with ROS 1, and six swarm behaviours as Webots C++ controllers for a custom Zumo model.
Media
What was built
- ROS packages and launch files for a four-robot Gazebo fleet, with velocity publishers.
- A bumper behaviour parameterised by robot namespace, run per robot.
- A three-robot launch with static transforms and an RViz configuration.
- A Zumo robot PROTO and six Webots swarm controllers, one world each.
ROS 1 packages start four TurtleBots in Gazebo and publish velocity commands to each. Bumper nodes react to collisions per robot namespace, and a three-robot launch ties the odometry frames to a world frame for RViz. There are also bumper scripts for one physical TurtleBot.
In Webots, a custom Zumo robot with distance and infrared sensors runs six C++ controllers: aggregation, dispersion, obstacle avoidance, flocking, foraging and line following. Each has its own world. The foraging controller is a four-state machine with timers and infrared colour-band thresholds.
Facts
| Item | Value |
|---|---|
| Gazebo fleet | 4 TurtleBots |
| Swarm behaviours | 6, one controller and one world each |