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A node communication method and device in a robot operating system

A technology of operating system and communication method, which is applied in the field of node communication in the robot operating system, can solve problems such as memory consumption of too many computer resources, great influence on communication efficiency, and inability to meet real-time requirements of data transmission, etc., to achieve reduced consumption , Improve the efficiency and stability of data transmission

Pending Publication Date: 2019-05-17
GOERTEK INC
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  • Application Information

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Problems solved by technology

[0003] However, the real-time performance of the communication mechanism of ROS is unstable, and the communication efficiency between processes is greatly affected by the network. Copying consumes too many computer resources

Method used

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  • A node communication method and device in a robot operating system
  • A node communication method and device in a robot operating system
  • A node communication method and device in a robot operating system

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Embodiment Construction

[0045] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0046] figure 1 It is a schematic flowchart of a node communication method in a robot operating system provided by an embodiment of the present invention. Such as figure 1 As shown, the method includes:

[0047] Step S110, selecting at least a pair of ROS (Robot Operation System, robot operating system) nodes that need to communicate, and setting at least one memory identifier for each pair of ROS nodes.

[0048] Step S120: Crea...

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Abstract

The invention discloses a node communication method and device in a robot operating system. The method comprises the following steps of selecting at least one pair of ROS nodes needing to communicate,and setting at least one memory identifier for each pair of ROS nodes; creating a shared memory for a pair of ROS nodes on a corresponding host according to a creation request of the ROS nodes serving as a setup end, and binding one shared memory with one memory identifier; when data communication is initiated, controlling an ROS node of a communication party, finding a shared memory through a memory identifier, and writing data; and controlling the ROS node of the other communication party, finding the shared memory through the memory identifier, and reading the data in the shared memory. Therefore, according to the technical scheme, the communication between nodes of the ROS is achieved through a memory sharing mechanism, the data transmission efficiency and the stability based on the ROS communication are improved, and the consumption of the computer resources is reduced.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a node communication method and device in a robot operating system. Background technique [0002] In the prior art, the communication mechanism of the robot operating system (Robot Operation System, ROS) is based on the TCP / UDP communication protocol. In ROS, each node (Node) is a process, and the communication between nodes is through topic registration and implemented by subscription. The Talker node registers a topic with the ROS Master and sends a message to the topic, and the Listener node can receive the message from the Talker node as long as it subscribes to this topic. [0003] However, the real-time performance of the communication mechanism of ROS is unstable, and the communication efficiency between processes is greatly affected by the network. Copying consumes too many computer resources. Contents of the invention [0004] In view of the above problems, the prese...

Claims

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Application Information

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IPC IPC(8): G06F9/54G06F9/50
Inventor 张富强
Owner GOERTEK INC