This repository provides a testbed simulation infrastructure for examining network load across ROS2 robot nodes using the ns-3 network simulator.

Follow these steps to model network flows in your robot scenario:

1. Setup.
2. Define your network traffic by defining your publishers, subscribers, publisher frequency, QoS and Security policies, see Designing your Robot Scenario.
3. Define Wifi attributes such as the Wifi protocol, the robot mobility range, and antenna strength, see Configuring ns 3 Behavior.
4. Run your scenario on the testbed, observing network latency and loss rates, see Example Scenarios.

See Example Scenarios 4 and other Wiki pages for topics describing performance issues and design details.

Overview

The testbed modules allow us to perform network analysis on a variety of robot swarms using one computer. The testbed consists of the robot swarm (light green) and the ns-3 Wifi network simulation (light yellow):

The testbed runner and the Wifi simulator programs use configuration parameters to define the robot scenario and the Wifi configuration: