Abstract
The MiniLab Enova mobile robot is presented in this paper. The main aim is to implement multi-master systems for managing a wireless communication network of multiple robots. A communication control scheme for multiple MiniLab Enova mobile robots was developed using ROS (Robot Operating System). ROS multi-master system is build from two or more ROS networks, each one with its own roscore node. For multiple robots, there are namespace conflict with ROS topics in a single master system. This limitation can be overcome using multiple masters. With this framework, it is possible to control the movement of multiple robots via a wireless communication network using only one monitoring computer.
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