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ROS1 message communication method, device and system and conversion method and device

A communication method and message technology, applied in the field of robotics, can solve the problems of significant transmission delay and packet loss, heavy transmission burden, incompatibility with ROS1 messages, etc.

Active Publication Date: 2020-05-26
BEIJING TUSEN ZHITU TECH CO LTD
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0011] In view of this, the present application provides a communication method, device and system for ROS1 messages, a conversion method and device, and a storage medium to solve the problem that the ROS2 system in the prior art cannot be compatible with ROS1 messages, and convert the ROS1 messages to Heavy transmission load, transmission delay and significant packet loss caused by ROS2 messages

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  • ROS1 message communication method, device and system and conversion method and device
  • ROS1 message communication method, device and system and conversion method and device
  • ROS1 message communication method, device and system and conversion method and device

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Embodiment Construction

[0050] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described The embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0051]At present, ROS1 messages are not compatible in the ROS2 system, that is, ROS2 nodes cannot recognize and parse ROS1 messages. There is a bridge node (Bridge Node) configured in the ROS2 system. When the ROS1 node sends a ROS1 message to the destination ROS2 node, the ROS1 message will be sent to the bridge node first; the bridge ...

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Abstract

The invention discloses an ROS1 message communication method, device, system, a conversion method and device, which are used for solving the problems of heavy transmission burden, transmission delay and remarkable packet loss caused by the fact that an ROS2 system in the prior art cannot be compatible with the ROS1 message and the ROS1 message needs to be converted into the ROS2 message through abridge node. The communication method comprises the following steps: an ROS2 node receives an ROS1 message from an ROS1 node; the ROS2 node calls a conversion application programming interface API, and transmits the received ROS1 message to the conversion API; the ROS2 node acquires an ROS2 message returned by the conversion API, wherein the ROS2 message is obtained by converting the ROS1 messagefrom the ROS2 node by the conversion API.

Description

technical field [0001] The invention relates to the field of robots, in particular to a communication method, device and system for ROS1 messages, a conversion method and device, and a storage medium. Background technique [0002] Robot Operating System (ROS) is a robot software platform that provides operating system-like functions for heterogeneous computer clusters. ROS is a set of computer operating system architecture designed for robot software development. It is an open source meta-level operating system (post-operating system) that provides services similar to operating systems, including hardware abstract description, underlying driver management, execution of common functions, inter-program message passing, and program distribution package management. Provides tools and libraries for acquiring, building, writing and executing multi-machine fusion programs. [0003] The primary design goal of ROS is to increase the code reuse rate in the field of robotics research...

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Application Information

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IPC IPC(8): G06F9/54H04L29/08
CPCG06F9/543H04L67/141Y02P90/02
Inventor 姜子悦
Owner BEIJING TUSEN ZHITU TECH CO LTD