Swarm control

Configuration:

Companion computer: RPI2 / RPI3 / Odroid XU4
Lidar: rplidar a2
Autopilot*: Pixhawk (Px4) / Ardupilot
            GPS module

*- Autopilot - used only for navigation and IMU through mavros module, PWM control implemented directly through GPIO.

How it works?

There are several ways to control a group of robots on ROS. The easiest is to use MultipleMachines.
However, I wanted to make the independent system which would allow to control outside the ROS.
Fortunately, there is a RosBridge:

Rosbridge provides a JSON API to ROS functionality for non-ROS programs. There are a variety of front ends that interface with rosbridge, including a WebSocket server for web browsers to interact with. Rosbridge_suite is a meta-package containing rosbridge, various front end packages for rosbridge like a WebSocket package, and helper packages

I've written a small Python library that makes it easy to work with RosBridge on the client.

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Interaction with the server is shown in the diagram.

Install

1. The first thing you should do is install python library: rospy_websocker_client