Shared memory management method and device for robot operating system

Abstract

The invention discloses a shared memory management method and device for a robot operating system. One specific embodiment of the method comprises the steps of obtaining a shared memory service registering request sent by a message receiving node, wherein the shared memory service registering request comprises a topic name and a needed internal storage segment size; according to the needed internal storage segment size, applying an internal storage segment for a shared memory region according to the internal storage segment size, associating a theme name with the applied internal storage segment, and storing the theme name into a configuration file; according to the size of a message sent by a message sending node, dividing the internal storage segment into a plurality of internal storage blocks; recycling the internal storage segment when any one of the conditions that the theme name in a main node and the theme name in the configuration file is not consistent, the message receiving node and the message sending node stop working, and the message receiving node does not subscribe for the theme corresponding to the theme name any more is met. According to the embodiment, shared memory of the robot operating system is more reasonably and flexibly distributed and managed.

Description

technical field [0001] The present application relates to the technical field of computers, in particular to the technical field of computer operating systems, and in particular to a shared memory management method and device for robot operating systems. Background technique [0002] ROS (Robot Operating System, robot operating system) uses a shared memory communication method. The difference between it and the traditional communication method is that it realizes the fast transmission of messages by continuously applying for new shared memory areas, so as to achieve low latency and low latency of the control channel. The high throughput of the data channel improves the operating efficiency of the system. [0003] At present, ROS uses the method of automatically reclaiming memory. When the node process stops working, the system will judge whether to reclaim the memory by itself. When all associations of the object are cut off, and the system still does not make the object re...

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Problems solved by technology

[0004] However, there are many hidden dangers in this method of automatically reclaiming memory. If some abnormal reasons occur and the unreachable memory is not cleaned up in time, it will cause a lot of waste of resources. In severe cases, it will affect the execution efficiency of other modules, and even cause the entire system to crash.

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