We want to demonstrate a decentralized algorithm for a team of mobile robots (~ 10 robots). We have WiFi adapters on each robot. It is not clear how we can do peer-to-peer communication between robots. We do not want to have a centralized router for communication. How can such a system be implemented? I couldn't find anything in the ROS2 documentation. The fast-DDS discovery server was the best I could find. But it seems we would need a centralized server for this as well. Maybe each robot acts as a discovery server.
- Mobile robots are moving in the environment. So, there will be a loss of communication and a change in the network topology.
- One possible solution we were considering was that each robot alternately broadcasts its message and receives a broadcast message. I am not sure if this is the best solution and how to implement it in ROS2.
P.S.: I understand that this might be a vague question at the moment. I will improve it as I get more concrete information.