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feat(perception): Multi-robot SLAM — map sharing + cooperative exploration #134

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opened 2026-03-02 09:27:17 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 09:27:17 -05:00
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Summary

Enable multiple SaltyBot variants to share maps and coordinate exploration.

Requirements

  • Map sharing: Publish compressed occupancy grid + keyframes over ROS2 DDS multicast
  • Map merging: Merge incoming maps from other robots using RTAB-Map multi-session
  • Cooperative exploration: Frontier-based exploration with task allocation (each robot covers different area)
  • Robot discovery: Discover other SaltyBots on network via ROS2 DDS discovery
  • Namespace isolation: Each robot under /saltybot_N/ namespace, shared /fleet/ topics
  • Transform coordination: Align maps between robots using common landmark matching
  • ROS2 topics: /fleet/maps, /fleet/robots, /fleet/exploration_frontiers

Agent: sl-perception

Labels: phase-3, multi-robot

## Summary Enable multiple SaltyBot variants to share maps and coordinate exploration. ## Requirements - **Map sharing**: Publish compressed occupancy grid + keyframes over ROS2 DDS multicast - **Map merging**: Merge incoming maps from other robots using RTAB-Map multi-session - **Cooperative exploration**: Frontier-based exploration with task allocation (each robot covers different area) - **Robot discovery**: Discover other SaltyBots on network via ROS2 DDS discovery - **Namespace isolation**: Each robot under /saltybot_N/ namespace, shared /fleet/ topics - **Transform coordination**: Align maps between robots using common landmark matching - **ROS2 topics**: /fleet/maps, /fleet/robots, /fleet/exploration_frontiers ## Agent: sl-perception ## Labels: phase-3, multi-robot
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#134
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