The other day I released the first version of my
ros2_robotarium a Gazebo and ROS2 implementation of the Georgia Tech Robotarium.
This project came about from struggling to find a decent multi-robot platform that could easily be used for RL experimentation since most require a significant investment, inadequate hardware, or space requirements. For example, the Turtlebot3 is still pretty expensive if you want to do multi-agent experiments. In addition, my RL work requires a decent amount of training and it isn’t something I could really get from a physical platform. So I’ve built this platform for 3 types of users:
- New roboticists that would like an easy-to-use ROS2 multi-robot system with a real-world physical counterpart to apply your algorithms or learn.
- 3D simulation needs for those who feel the current Robotarium 2D simulator may be lacking.
- Swarm Robotics researchers particularly those trying to work with machine learning and reinforcement learning algorithms.
In essence, the goal of this project is to create an easy, ready-to-use 3D multi-robot simulator that is built with ROS2 and Gazebo for simulation of Swarm Robotics algorithms and reinforcement learning experiments. Another goal of this project is to provide an easy python scripting paradigm built upon the Robotarium’s 2D Python simulator’s for those who do not know how to program using ROS. This way users of varying skill levels in programming and robotics can use this repository for experimentation or learning.
In the future, I hope to expand this by adding Gazebo tutorials to modify the testbed, different robot types for simulating, and a containerized version of the program for people who would like to do more computationally intensive work.
Let me know what you guys think!