Cyprus internship, summer 2023
Abstract: Duckietown platform rely on ROS. But ROS does not support real-time communication, which is crucial in multi-node and multi-robot environments and does not support data transfer control in distributed systems. The aim of this project is to port Duckietown software to ROS2 to achieve the following: Real-time communication Multi-robot systems (in city scenarios) Better performance even for RPi variant. Quality of Service (QoS) settings for publishers and subscribers: This allows developers to specify the service quality they need from the underlying middleware. This can be particularly useful in systems with real-time requirements, or where network bandwidth is limited.
- ROS2 duckietown port MVP
- Collateral outcome: Research paper for IROS or ICRA
- CI/CD Robotics pipeline
- Collateral Project: Convenient duckietown simulator with good physics