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Bridging ROS system and CANopen network real-time communication method

A technology of network real-time communication and CAN bus, which is applied in the field of network communication, can solve problems such as the inability to realize real-time interaction between ROS and CAN bus, and achieve flexible access and control of slave devices, easy implementation, and improved data transmission efficiency.

Inactive Publication Date: 2019-04-16
NANJING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Aiming at the problem that the real-time interaction between ROS and the CAN bus cannot be realized in the above-mentioned prior art, the present invention proposes a real-time communication method for bridging the ROS system and the CANopen network, which can enable the ROS node to directly access and Control CANopen slave station equipment, the specific technical solution is as follows:

Method used

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  • Bridging ROS system and CANopen network real-time communication method
  • Bridging ROS system and CANopen network real-time communication method
  • Bridging ROS system and CANopen network real-time communication method

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Embodiment 1

[0025] In the embodiment of the present invention, a kind of real-time communication method of bridging ROS system and CANopen network is provided, and ROS system comprises CANopen drive module, CANopen core module, CANopen main station module and CANopen bridging module, CANopen drive module, CANopen core module, CANopen The master station module and the CANopen bridge module are sequentially designed from the bottom layer to the highest layer; the method includes steps:

[0026] S1. Drive the CAN hardware device of the PC platform through the CANopen driver module to realize the opening and closing of the CAN bus and the sending and receiving operations of CAN messages. Among them, the main program source code for the realization of the CAN hardware device is:

[0027] Functions provided by the driver module:

[0028] Receive message: canReceive_driver

[0029] Send message: canSend_driver

[0030] Open the CAN bus: canOpen_driver

[0031] Close the CAN bus: canClose_driv...

Embodiment 2

[0046] Adopt X86 platform to add USB-to-CAN adapter card to connect a Cia-402 protocol joint motor and its Cia-406 encoder of the mechanical arm on the CAN bus with the control system hardware part of the present invention; The real-time Linux operating system is used to provide fully preemptive process scheduling to realize the real-time ROS domain. The method of the present invention is described in detail, and the specific process is as follows:

[0047] Firstly, the CAN driver is reused by the CANopen driver module, such as PCAN and SocketCAN, which are provided by the CanFestival project through its simple C interface to solve the communication problem with CAN hardware; in actual operation, the C interface only includes the changeBaudrate, open , close, receive and send functions; the CANopen driver module is compatible with CanFestival, which provides more than 20 different CAN drivers, and solves the problem of communicating with various CAN hardware on different platfo...

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Abstract

The invention discloses a bridging ROS system and a CANopen network real-time communication method. The ROS system comprises a CANopen driving module, a CANopen core module, a CANopen master station module and a CANopen bridging module which are sequentially designed in a laminated manner from a bottom layer to a top layer. The method comprises the following steps: CAN hardware equipment of a PC platform is driven through the CANopen driving module, and enable and disable of a CAN bus and receiving and sending operations of a CAN message are realized; a CANopen protocol is set in the CANopen core module, and data interaction between the CANopen driving module and an upper layer is realized based on the CANopen protocol; all nodes in a CANopen network are detected through the CANopen masterstation module, automatic identification, listing and initialization of all equipment in the CANopen network are realized, and ROS topics and sercives are created for all equipment with known configuration files; and an OD service is provided through the CANopen bridging module, functions of the known configuration files are mapped to a standard ROS message, and ROS message access of an ROS nodein an ROS network is realized. The real-time requirements of different communication tasks are met, and the adaptability of the CANopen network to a robot is improved.

Description

technical field [0001] The invention belongs to the technical field of network communication, in particular relates to data communication between a ROS system and a CANopen network, in particular to a real-time communication method for bridging the ROS system and the CANopen network. Background technique [0002] The CAN bus was developed as an automotive communication system in the mid-1980s and was standardized as an ISO standard (ISO 11898) in 1993. CAN uses differential signaling to achieve the high noise immunity required in the automotive environment. Bus access is governed by identifiers and bit-wise arbitration based on bit-level synchronization of all transceivers. Thanks to this arbitration, the priority of bus access is well-defined and determined, thus enabling hard real-time communication. The CAN bus is a shared medium and all transmissions are broadcasts. The device filters data based on frame identifiers. Each data frame can carry up to 8 data bytes. Ove...

Claims

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Application Information

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IPC IPC(8): H04L12/40
CPCH04L12/40013H04L2012/40215
Inventor 王博恒陈盛梁志伟高翔朱博
Owner NANJING UNIV OF POSTS & TELECOMM