  We present a networked co-simulation framework for multi-robot systems
applications. We require a simulation framework that captures both physical
interactions and communications aspects to effectively design such complex
systems. This is necessary to co-design the multi-robots' autonomy logic and
the communication protocols. The proposed framework extends existing tools to
simulate the robot's autonomy and network-related aspects. We have used Gazebo
with ROS/ROS2 to develop the autonomy logic for robots and mininet-WiFi as the
network simulator to capture the cyber-physical systems properties of the
multi-robot system. This framework addresses the need to seamlessly integrate
the two simulation environments by synchronizing mobility and time, allowing
for easy migration of the algorithms to real platforms. The framework supports
container-based virtualization and extends a generic robotic framework by
decoupling the data plane and control plane.
