86 lines
2.2 KiB
Markdown
86 lines
2.2 KiB
Markdown
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ROS Implemenation of Buzz
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=========================
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What is Buzz?
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=============
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Buzz is a novel programming language for heterogeneous robots swarms.
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Buzz advocates a compositional approach, by offering primitives to define swarm behaviors both in a bottom-up and in a top-down fashion.
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Bottom-up primitives include robot-wise commands and manipulation of neighborhood data through mapping/reducing/filtering operations.
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Top-down primitives allow for the dynamic management of robot teams, and for sharing information globally across the swarm.
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Self-organization results from the fact that the Buzz run-time platform is purely distributed.
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The language can be extended to add new primitives (thus supporting heterogeneous robot swarms) and can be laid on top of other frameworks, such as ROS.
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More information is available at http://the.swarming.buzz/wiki/doku.php?id=start.
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Downloading ROS Package
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=======================
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$ git clone
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Requirements
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------------
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* Buzz : You can download the development sources through git:
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$ git clone https://github.com/MISTLab/Buzz.git buzz
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* ROS binary distribution (Indigo or higher) with catkin
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You need the following package:
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* mavros_msgs : You can install using apt-get:
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$ sudo apt-get install ros-"distro"-mavros ros-"distro"-mavros-extras
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Compilation
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-----------
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To compile the ros package, execute the following:
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$ cd catkin_ws
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$ catkin_make
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$ source devel/setup.bash
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Run
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===
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$ rosrun rosbuzz rosbuzz_node
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Publisher
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----------
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* Messages from Buzz (BVM):
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The package publishes mavros_msgs/Mavlink message with a topic name of "outMavlink".
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Subscribers
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* Current position of the Robot:
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The package subscribes' to sensor_msgs/NavSatFix message with a topic name of "current_pos".
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* Messages to Buzz (BVM):
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The package subscribes' to mavros_msgs/Mavlink message with a topic name of "inMavlink".
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* Battery status:
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The package subscribes' to mavros_msgs/BatteryStatus message with a topic name of "battery_state".
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Service
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-------
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* Remote Controller command:
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The package offers service using mavros_msgs/CommandInt service with name "djicmd_rc".
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Client
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------
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* Flight controller client:
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This package is a client of mavros_msgs/CommandInt service with name "djicmd".
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