A novel testbed for evaluating ROS 2 robot swarm wireless communications

摘要

ROS 2 (Robot Operating System 2) has turned out to be de-facto solution to solve robotics challenges like mapping, localization and robot representation. This paper examines the capabilities of the ROS 2 middleware, emphasizing its role in enabling dependable communication among robotic swarm systems within real-time constraints. The study particularly focuses on the implications for network and computational resources required to run ROS 2 middleware on resource-limited devices communication over high-latency networks. For this task, an easily reproducible testbed is presented.