We present a networked co-simulation framework for multi-robot systems applications. We require a simulation framework that captures both physical interactions and communications aspects to effectively design such complex systems. This is necessary to co-design the multi-robots' autonomy logic and the communication protocols. The proposed framework extends existing tools to simulate the robot's autonomy and network-related aspects. We have used Gazebo with ROS/ROS2 to develop the autonomy logic for robots and mininet-WiFi as the network simulator to capture the cyber-physical systems properties of the multi-robot system. This framework addresses the need to seamlessly integrate the two simulation environments by synchronizing mobility and time, allowing for easy migration of the algorithms to real platforms. The framework supports container-based virtualization and extends a generic robotic framework by decoupling the data plane and control plane.

翻译：我们为多机器人系统应用提出了一个网络化共同模拟框架。我们需要一个包含物理互动和通信两方面的模拟框架,以有效设计这种复杂的系统。这对共同设计多机器人自主逻辑和通信协议是必要的。拟议框架扩大了现有工具,以模拟机器人的自主性和网络相关方面。我们利用Gazebo与ROS/ROS2开发机器人和微型网络-WiFi的自主逻辑,作为网络模拟器,以捕捉多机器人系统的网络-物理系统特性。这个框架通过同步移动和时间将两种模拟环境无缝地结合,使算法容易迁移到真实平台。框架支持集装箱虚拟化,并通过解开数据平面和控制平面来扩展一个通用机器人框架。