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Communication method, authentication method and device of a ROS node

A communication method and node information technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems that the system security cannot be guaranteed, obtain information, and issue false instructions, so as to reduce nodes forging identities to obtain information and improve security. sexual effect

Active Publication Date: 2022-04-05
BOE TECH GRP CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, since any node in ROS can publish information or subscribe to information, it may happen that nodes forge their identities to obtain information, issue false instructions, etc., making the system security unable to be guaranteed

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  • Communication method, authentication method and device of a ROS node
  • Communication method, authentication method and device of a ROS node
  • Communication method, authentication method and device of a ROS node

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Embodiment Construction

[0029] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some, but not all, embodiments of the present invention. For those skilled in the art, other embodiments can also be obtained based on these embodiments without making creative efforts.

[0030] An embodiment of the present invention provides a ROS that can be applied to technologies such as robots, drones, and unmanned driving. figure 1 It is a schematic diagram of the system structure of ROS in the embodiment of the present invention, see figure 1 As shown, the ROS 100 may include: a node manager (ROS Master) 101 and at least one node (Node) 102 .

[0031]In the embodiment of the present invention, the above-mentioned nodes are executable files that communicate with other nodes through ROS. Nodes in ROS can publish messages to topics or subscribe to messages from to...

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Abstract

The present invention provides a communication method, authentication method and device of a ROS node, aiming at improving the security of ROS. Wherein, the communication method of the ROS node includes: after passing the mutual authentication with the node in the ROS, receiving a subscription request from a subscription node in the node, where the subscription request is used for requesting to subscribe to the first topic; In response to the subscription request, find the publishing node of the first topic in the node, and send the node information of the found publishing node to the subscription node, where the node information is published by the publishing node. When the first topic is sent to the node manager, the node information includes the communication information of the publishing node and the protocol key, and the communication information is used for establishing a communication connection between the publishing node and the subscribing node; the protocol The key is used for encrypted communication between the publishing node and the subscribing node in the nodes.

Description

technical field [0001] The present invention relates to the technical field of Robot Operating System (ROS, Robot Operating System), in particular to a communication method and device for ROS nodes. Background technique [0002] With the rapid development and complexity of the robotics field, the need for code reusability and modularization is becoming stronger and stronger, and the existing open source robot systems cannot meet the needs well. So an open source robot operating system, ROS, was released. Soon there was an upsurge in learning and using ROS in the field of robot research. [0003] Currently, ROS is an open source system for operating robots on computers. ROS usually consists of a large number of nodes, any of which can communicate with other nodes through publish / subscribe. For example, a position sensor on the robot, such as a radar unit, can be used as a node of ROS. The radar unit can publish the information obtained by the radar in the form of informati...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1689
Inventor 王子宜
Owner BOE TECH GRP CO LTD