Multi-Robot Decentralized Architecture

This project is a part of Master Thesis: "Decentralized Multi Robot Collaboration and Mapping" by Shreyas Gokhale.

How to

Run

docker-compose up --build --force-recreate

This fetches all the base images, builds containers and starts 1 Simulator, 3 Robot, 1 Google Cartographer Server containers.

You can interact with the containers from VNC on follwing adresses:

Container	IP
Gazebo Simulator	`localhost:5925`
Cartographer Cloud	`localhost:5910`
Robot 0	`localhost:5950`
Robot 1	`localhost:5951`
Robot 2	`localhost:5952`

If you run the code on a VM / DigitalOcean Droplet, replace localhost with your VM IP and open corresponding ports for remote access.

Have a look at docker-compose.yaml file for more info.

You can start teleop node for turtlebot from any one of the robot contaiers to move around the robot

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

Screenshots

Gazebo Container

Robot Container

Google Cartographer Cloud Container

Contributing

Pull requests are welcome. For major changes, please open an issue first to discuss what you would like to change.

Acknowledgements

The basis for this architecture was Ros-Simulation project.

License

GPL-3

Agent robot displays error message: `Check failed: client.Write(request)`

Hello, thank you for the code you shared. When I run it, I find that I can't start three agent robots normally.
I only modified
wget -qO- https://dl.bintray.com/tigervnc/stable/tigervnc-1.8.0.x86_64.tar.gz | tar xz --strip 1 -C /
in tigervnc.sh to
wget https://dl.bintray.com/tigervnc/stable/tigervnc-1.8.0.x86_64.tar.gz
tar xvzf ./tigervnc-1.8.0.x86_64.tar.gz --strip 1 -C /
and then used docker-compose up --build --force-recreate , but I encountered the following error:

robot-0_1    |    process[rviz-7]: started with pid [[1936]]
robot-0_1    |    QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
robot-0_1    |    F0628 02:53:47.204084  1919 pose_graph_stub.cc:94] Check failed: client.Write(request)
robot-0_1    |    [FATAL] [1593312827.204844324]: F0628 02:53:47.000000  1919 pose_graph_stub.cc:94] Check failed: client.Write(request)
robot-0_1    |    [ WARN] [1593312827.815014118]: W0628 02:53:47.000000  1861 node.cc:857] Expected topic "scan" (trajectory 0) (resolved topic "/scan") but no publisher is currently active.
robot-0_1    |    [ WARN] [1593312827.815095898]: W0628 02:53:47.000000  1861 node.cc:857] Expected topic "odom" (trajectory 0) (resolved topic "/odom") but no publisher is currently active.
robot-0_1    |    [ WARN] [1593312827.815157345]: W0628 02:53:47.000000  1861 node.cc:866] Currently available topics are: /constraint_list,/submap_list,/scan_matched_points2,/rosout,/tf,/rosout_agg,/map,/trajectory_node_list,/landmark_poses_list,
robot-0_1    |    *** Check failure stack trace: ***
robot-0_1    |    @    0x7f831086f0cd  google::LogMessage::Fail()
robot-0_1    |    @    0x7f8310870f33  google::LogMessage::SendToLog()
robot-0_1    |    @    0x7f831086ec28  google::LogMessage::Flush()
robot-0_1    |    @    0x7f8310871999  google::LogMessageFatal::~LogMessageFatal()
robot-0_1    |    @    0x55d32941919f  (unknown)
robot-0_1    |    @    0x55d3293e84f9  (unknown)
robot-0_1    |    @    0x55d3293b3b11  (unknown)
robot-0_1    |    @    0x7f830ddc7e37  ros::TimerManager<>::TimerQueueCallback::call()
robot-0_1    |    @    0x7f830ddfbb8c  ros::CallbackQueue::callOneCB()
robot-0_1    |    @    0x7f830ddfcf7b  ros::CallbackQueue::callAvailable()
robot-0_1    |    @    0x7f830de54fe9  ros::SingleThreadedSpinner::spin()
robot-0_1    |    @    0x7f830de3d87b  ros::spin()
robot-0_1    |    @    0x55d3293ac9db  (unknown)
robot-0_1    |    @    0x55d3293a9379  (unknown)
robot-0_1    |    @    0x7f830c790b97  __libc_start_main
robot-0_1    |    @    0x55d3293ac2ba  (unknown)
robot-0_1    |    [cartographer_grpc_bridge_cloud-6] process has died [pid 1919, exit code -6, 
cmd /catkin_ws/install_isolated/lib/cartographer_ros/cartographer_grpc_node -configuration_directory 
/catkin_ws/install_isolated/share/cartographer_ros/configuration_files -configuration_basename agent_node.lua 
-server_address cloud-server:55555 -client_id tb3_0_global __name:=cartographer_grpc_bridge_cloud 
__log:=/home/.ros/log/91c023b4-b8ea-11ea-ad1c-0242ac130004/cartographer_grpc_bridge_cloud-6.log].
robot-0_1    |    log file: /home/.ros/log/91c023b4-b8ea-11ea-ad1c-0242ac130004/cartographer_grpc_bridge_cloud-6*.log
robot-0_1    |    process[tcp_receiver_robot-2]: started with pid [2006]

The three agents have the same problem. I uploaded the log file of my terminal in the attachment, and the failure message appears approximately on lines 13531-13609, please have a check.

Finally, thanks again for your sharing.

log.txt

shreyasgokhale / multi-robot-decentralized-architecture Goto Github PK