WHEELTEC ROS2 Robot Swarm Fleet Package

The WHEELTEC ROS2 Robot Swarm Fleet Package is an advanced, open-source collaborative robotics platform designed for students, educators, and researchers. Supporting both ROS1 and ROS2, this highly versatile package allows users to develop, test, and deploy complex multi-robot coordination and formation algorithms. With multiple chassis styles and powerful processing options, it is the ideal tool for academic research and competitive swarm robotics.

Scalable fleet configurations

The swarm package supports multiple fleet sizes and combinations, including three-car, five-car, ten-car, or fifteen-car setups. Users can select from Mecanum wheel, Ackermann steering, and four-wheel-drive chassis configurations to suit their specific research needs.

Collaborative swarm algorithms

Designed for education, research, and developers, this open-source platform supports both ROS1 and ROS2. It includes proprietary leader-follower formation algorithms, allowing teams to implement complex formations such as horizontal/vertical lines, triangles, crosses, and X-formations.

Advanced sensing and control

Each robot is equipped with a Leishen M10P serial LiDAR and high-precision 500-line AB-phase encoders for accurate positioning. Control interfaces include CAN, serial, USB, and support for mobile apps, PS2 controllers, and RC transmitters.

Compact mini chassis options

The mini series features MG513 metal gear reduction motors and GMR encoders, with payloads ranging from 3 kg to 6 kg. The mini Ackermann chassis can switch between Ackermann, anti-Ackermann, and differential structures, achieving up to 7 hours of light-load battery life.

High-specification heavy-duty chassis

For demanding applications, the high-spec series uses powerful MD36L planetary gear motors with a 1:27 reduction ratio and coaxial swing suspension. These robust platforms support payloads up to 15 kg and reach maximum speeds of up to 1.82 m/s.

Versatile processing options

The system supports a wide range of ROS masters, including Raspberry Pi 5 (8GB), Jetson Nano (4GB), RDK X5 (8GB), and Orin Nano/NX series. Pre-configured operating system options include Ubuntu 18.04 with Melodic, Ubuntu 20.04 with Noetic/Galactic, and Ubuntu 22.04 with Humble.