Coorp

Coorp is a network supporting system designed for coordinated robotic learning. The implementation spans multiple repos (multiple libraries and the Linux kernel), thus there are several repos for different parts of the implementation. We describe the contents in each repo and the overall usage of Coorp here.

This repo implements the global controller, BH controller, and preemption controller described in the paper.

The other repos are:

• ROS2-rcl

  Implements the proxy of preemption controller in ROS2.

• ROS2-Fast-DDS

  Makes ROS2 messages go through AC_VI of EDCA.

• ROS2-rcl_interfaces

  Adds some message types to support communication between preemption controller and its proxy.

• Linux-5.4.84-rt

  Implements the virtual-preemption layer.

Usage

Compile & Install Kernel

See the README of the kernel repo. You can use MT7612U wireless NICs, or adapt the virtual-preemption layer for other commodity WNICs.

Compile & Install ROS2

1. Follow the ROS2 official guide to install dependencies and get the original ROS2 source code.
2. Substitute ros2_foxy/src/eProsima/Fast-DDS, ros2_foxy/src/ros2/rcl, and ros2_foxy/src/ros2/rcl_interfaces provided by Coorp (from the above links).
3. Build and install ROS2 according to its official guide.

Run

1. Adapt your application to use the MessageStream class provided by bh_controller.py to transmit bandwidth-hungry flows like parameter updates.
2. Start the global_controller.py.
3. Start preemption_controller.py on each robot.
4. Start your multi-robot applications on each robot.