Real-time message transmission method among multiple robots

Abstract

The invention discloses a real-time message transmission method among multiple robots. The real-time message transmission method is used for providing supporting ability of real-time transmission of a network message on a robot middleware layer based on ROS, so that a message transmission process among the multiple robots can meet priority, transmission delay and other time constraints. The technical scheme is as follows: a network message transmission specification DDS with instantaneity guarantee ability is introduced into the ROS, a multi-robot computing node environment is established at first, an operating system Ubuntu, a robot middleware ROS, a real-time message middleware satisfying the DDS specification and a ROS / DDS protocol plug-in are constructed in the environment, the ROS / DDS protocol plug-in supports real-time attribute setting of a ROS message, mutual transformation of the ROS message and a DDS message is realized, and the messages are sent and received by the real-time message middleware satisfying the DDS specification. By adopting the real-time message transmission method among multiple robots disclosed by the invention, the message transmission instantaneity among the multiple robots can be realized on the robot middleware layer under the condition of not modifying the existing distributed application of the multiple robots and directly using the ROS / DDS protocol plug-in.

Description

technical field [0001] The invention relates to the technical field of software construction, in particular to a method for realizing real-time message transmission among multiple robots by introducing a network message transmission protocol capable of ensuring real-time performance into a software middleware layer in a multi-robot distributed application. Background technique [0002] Multi-robot distributed application refers to a software system composed of multiple robots. In this system, multiple robots cooperate with each other to complete specified tasks. Typical examples of multi-robot distributed applications include drone swarm software systems, robot soccer team software systems, etc. Robot middleware is a software infrastructure that supports multi-robot distributed applications. It encapsulates solutions to common problems (such as data communication, transactions, etc.) in multi-robot distributed applications, which can greatly simplify the development process ...

AI Technical Summary

Problems solved by technology

[0005] However, in the field of robot middleware, there is currently no public technical information related to the results of network real-time message delivery or mature technical solutions

Taking ROS as an example, its topic-based message publishing / subscribing mechanism can only provide ordinary message interaction capabilities, and cannot provide time-constrained service quality parameters for messages.

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