state_exchanger package from swarm_functions repoarea_division coverage_path kinematics_exchanger state_exchanger swarm_functions target_monitor task_allocation
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|License||Apache License 2.0|
- Micha Sende
- Micha Sende
This package exchanges behavioral states between multiple cyber physical systems (CPSs) in a swarm.
The communication between CPSs is based on the CPSwarm Communication Library.
The state that is exchanged is read from a SMACH state machine.
Further required packages are: * roscpp
Run the launch file
roslaunch state_exchanger state_exchanger.launch
to launch the
The launch file can be configured with following parameters:
id (integer, default:
The identifier (ID) of the CPS used for name spacing in simulation.
output (string, default:
Whether to show the program output (
screen) or to write it to a log file (
param subdirectory there is the parameter file
state_exchanger.yaml that allows to configure the behavior of the
state_exchanger node publishes behavioral states of this CPS to the rest of the swarm and publishes the state received from the other swarm members locally. The state is taken from a locally running SMACH state machine. If the CPS is in multiple states, only the first one is considered.
smach_server/smach/container_status(smach_msgs/SmachContainerStatus) The current state of this CPS.
bridge/events/state(cpswarm_msgs/StateEvent) The current state of another CPS. Messages are exchanged between CPSs using the CPSwarm Communication Library.
state(cpswarm_msgs/StateEvent) The current state of this CPS that is forwarded by the CPSwarm Communication Library to the other swarm members.
swarm_state(cpswarm_msgs/ArrayOfStates) The states of the other swarm members received through the CPSwarm Communication Library.
1.5) The frequency in Hz at which to run the control loops.
10) The size of the message queue used for publishing and subscribing to topics.
20.0) The time in seconds after which another CPS is considered to have left the swarm.
/SM_TOP) The path of the smach state machine whose state shall be exchanged.
Changelog for package state_exchanger
- Initial release of state_exchanger
- Contributors: Micha Sende
- id [default: 1]
- output [default: log]