swarm_intelligence_ros2

ROS2 package for swarm intelligence.

Requirements

• Linux OS
  • Ubuntu 20.04 Laptop PC
• ROS
  • Foxy Fitzroy

Install & Build

The following commands download a package from a remote repository and install it in your colcon workspace.

mkdir -p ~/manta_ws/src
cd ~/manta_ws/src
git clone https://github.com/tasada038/swarm_intelligence_ros2.git
cd ~/manta_ws && colcon build -

Run

Run the following command to run the component node.

PSO

1. Publish the /input data

ros2 run swarm_intelligence_ros2 test_data

2. Subscribe the /input data and, publish pso value of /output

ros2 run swarm_intelligence_ros2 pso_topic

If you want to use ROS2 service client communication, run the following command.

ros2 launch swarm_intelligence_ros2 pso_cli.launch.py

MRFO

1. Publish the /input data

ros2 run swarm_intelligence_ros2 test_data

2. Subscribe the /input data and, publish mrfo value of /output

ros2 run swarm_intelligence_ros2 mrfo_node

swarm_intelligence_ros2 parameter

The parameters for the swarm_intelligence_ros2 are as follows.

$ ros2 param list
/pso_node:
  c1
  c2
  dimension
  dt
  inertia
  swarm_size
  use_sim_time

/mrfo_node:
  dimension
  max_iter
  population
  use_sim_time

License

This repository is licensed under the Apache 2.0, see LICENSE for details.