Overview

In GAZEBO'S SWARM SIMULATOR, you'll learn how to build realistic, scalable multirobot worlds where coordination emerges from solid engineering-not luck. Using Gazebo and ROS2, this hands-on guide shows you how to model physics, sensors, and communication so your robots practice collision avoidance, formation control, and cooperative navigation long before they touch real floors. Inside, you'll discover how to: Stand up a reusable ROS2/Gazebo stack: package layout, namespaces, parameterization, and per-robot launch patterns that scale from 3 to 300 agents. Model accurate physics & sensors: IMU, LiDAR, RGB-D, cameras, wheel slip, noise models, and realistic actuation via ros2_control. Implement collision avoidance that holds under stress: ORCA/RVO, velocity obstacles, safety buffers, and rule-based fail-safes. Build formation controllers (leader-follower, virtual structures, consensus) with smooth transitions and disturbance rejection. Integrate Nav2 for multi-robot navigation: per-robot costmaps, conflict-aware routing, and recovery behaviors. Configure DDS QoS (reliability, durability, liveliness, deadline) so messages survive busy, lossy networks. Run distributed SLAM & map sharing with pose-graph alignment, map merge, and drift-aware localization. Create scenario generators for coverage, patrol, and pursuit-evasion; inject failures, latency, and sensor dropouts to harden behavior. Execute headless, at-scale simulation with parameter sweeps, CI automation, and reproducible rosbag2 logging for metrics and post-mortems. Secure and ship: SROS2 permissions, domain IDs, time sync (NTP/PTP), OTA config, and dashboards for fleet observability. Packed with step-by-step labs, reference launch files, and tuning checklists, this book turns swarm theory into a dependable simulation pipeline-so your first field trial feels like a rerun. Who This Book Is For ROS2 developers moving from single robots to coordinated fleets Robotics engineers validating avoidance and formations before hardware Researchers and students modeling emergent multirobot behaviors Product teams de-risking logistics, inspection, and rescue swarms If one robot is a demo, a swarm is a system-simulate it like one.

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