bob_central.swarm_coordinator_node

swarm_coordinator_node.py - Eva’s ROS 2 Swarm Coordinator Node.

Integrated with stealth mesh routing, Qdrant distributed peer registry, and skill task negotiation protocol for self-organizing task allocation.

Topics:: /eva/swarm/registry (std_msgs/String) - Full skill registry snapshot /eva/swarm/heartbeat (std_msgs/String) - Periodic health beacon /eva/swarm/announce (std_msgs/String) - Incoming peer announcements /eva/swarm/route (std_msgs/String) - Onion-routed message delivery /eva/swarm/task_bid (std_msgs/String) - Task negotiation bids /eva/swarm/task_award (std_msgs/String) - Task award assignments

Attributes

`SKILL_BASE`
`QDRANT_URL`
`PEER_COLLECTION`
`TASK_COLLECTION`

Classes

`StealthMeshRouter`	Decentralized stealth mesh routing.
`QdrantPeerRegistry`	Distributed peer registry backed by Qdrant.
`TaskNegotiator`	Skill-to-skill task negotiation protocol.
`SwarmCoordinatorNode`	Dedicated ROS 2 node for Eva's swarm coordination.

Functions

main([args])

Module Contents

bob_central.swarm_coordinator_node.SKILL_BASE = '/ros2_ws/src/bob_central/skills'

bob_central.swarm_coordinator_node.QDRANT_URL = 'http://qdrant:6333'

bob_central.swarm_coordinator_node.PEER_COLLECTION = 'peers'

bob_central.swarm_coordinator_node.TASK_COLLECTION = 'tasks'

class bob_central.swarm_coordinator_node.StealthMeshRouter(node_name: str = 'eva_swarm_router')

Decentralized stealth mesh routing.

node_name = 'eva_swarm_router'

peer_id = ''

peers

routes

relay_table

identity_rotation_interval = 300

_last_rotation

_generate_peer_id() → str

rotate_identity()

register_peer(peer_id: str, address: str = '', is_relay: bool = False)

build_onion_path(destination: str) → dict | None

get_status() → dict

class bob_central.swarm_coordinator_node.QdrantPeerRegistry(collection: str = PEER_COLLECTION)

Distributed peer registry backed by Qdrant.

collection = 'peers'

base_url = 'http://qdrant:6333'

_ensure_collection()

save_peers(peers: dict)

load_peers() → dict

class bob_central.swarm_coordinator_node.TaskNegotiator

Skill-to-skill task negotiation protocol.

active_tasks

pending_bids

awarded_tasks

task_counter = 0

create_task(task_type: str, description: str, required_capability: str = '', priority: int = 5) → str: Create a new task for negotiation.

submit_bid(task_id: str, bidder_id: str, confidence: float = 0.5, load: float = 0.0) → bool: Submit a bid for a task.

evaluate_bids(task_id: str) → str | None: Evaluate bids and award task to best bidder.

complete_task(task_id: str) → bool: Mark a task as completed.

get_status() → dict

class bob_central.swarm_coordinator_node.SwarmCoordinatorNode

Bases: rclpy.node.Node

Dedicated ROS 2 node for Eva’s swarm coordination.

registry_pub

heartbeat_pub

route_pub

task_bid_pub

task_award_pub

security_pub

diag_pub

allowed_protocols = ['/noise', '/ipfs/kad/1.0.0', '/multistream/1.0.0']

skill_registry

peers

registry

router

negotiator

discover_skills()

publish_registry()

publish_heartbeat()

publish_diagnostics(): Publish swarm health as ROS 2 diagnostics.

persist_peers()

evaluate_open_tasks(): Periodically evaluate pending bids and award tasks.

property active_tasks

announce_callback(msg)

route_callback(msg)

task_bid_callback(msg): Handle incoming task bids.

task_award_callback(msg): Handle task award acknowledgments.

scout_report_callback(msg): Monitor scout reports for security-relevant events.

rotate_identity()

bob_central.swarm_coordinator_node.main(args=None)