Overview

From prototype to fleet-design a ROS2 stack that scales without rewrites. In ROS2 SWARM ARCHITECTURES, you'll learn how to build modular, decentralized robot teams that stay reliable as they grow. This hands-on guide shows you how to compose systems with Lifecycle Nodes, tune DDS QoS for congested networks, and structure packages so features, robots, and behaviors plug together cleanly-whether you're running five robots or five hundred. Inside, you'll discover how to: Architect modular stacks with components, namespaces, remapping, and parameter profiles for per-robot personalization. Orchestrate startup/shutdown safely using Lifecycle Nodes (configure → activate → deactivate → cleanup) with health checks and rollback. Tune DDS/QoS (reliability, durability, history depth, liveliness, deadline, latency budget) to keep swarms responsive under load. Choose and configure Cyclone DDS vs. Fast DDS, ROS_DOMAIN_ID partitioning, and discovery servers for large fleets. Achieve real-time behavior with executors, callback groups, intra-process comms, loaned messages, and PREEMPT_RT-friendly patterns. Implement distributed coordination: auctions, consensus, leader election, and behavior trees that compose like LEGO. Integrate Nav2 for multi-robot navigation with per-robot costmaps, conflict-aware routing, and collision avoidance layers. Run distributed SLAM/map-merge, time-sync (NTP/PTP), and shared frames without TF chaos. Ship to hardware with micro-ROS bridges, OTA configuration, and resource-aware containers at the edge. Instrument and secure the fleet: rosbag2, diagnostics, tracing, dashboards, and SROS2 keystores & permissions. With reference launch files, parameter templates, and lab exercises, this book turns best practices into a repeatable playbook-so your swarm is composable, observable, and dependable from day one. Who This Book Is For ROS2/robotics engineers scaling from a single bot to a coordinated fleet Researchers & students building reproducible multi-agent experiments Product teams deploying collaborative robots for logistics, inspection, or rescue One robot is a demo. A swarm is an architecture-design it to scale.

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