Multi-robot communication method and device based on ROS system

A multi-robot and communication method technology, applied in the field of robot communication, can solve problems such as huge amount of information, unknown errors, and complexity, and achieve the effect of reducing information transmission errors and avoiding accuracy

Inactive Publication Date: 2020-09-01
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

This requires managers to coordinate and plan the work content of each robot. When the number of robots is large, this work will become more and more complicated, and a large amount of human resources will be consumed to manage the robots.
What followed was a multi-machine communication method based on a local area network. However, with the increase of sensors and actuators of the robot, the amount of data generated and executed by the robot increased significantly, and the amount of various information was huge, and often information errors or other unknown errors

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  • Multi-robot communication method and device based on ROS system
  • Multi-robot communication method and device based on ROS system
  • Multi-robot communication method and device based on ROS system

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Embodiment Construction

[0057] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0058] The embodiment of the present invention discloses a multi-robot communication method based on the ROS system, which is applied to the information sending end in the multi-robot system, such as figure 1 As shown, it specifically includes the following steps:

[0059] Step S110, subscribe to the topic to be sent in the current ROS system; Step S120, call the callback function of the topic to generate the serial number of the topic to be sent; wherein, the serial number of the topic to be sent is composed of the number of the information sending end, the number of the information receiving end, the number of the topic and the number of times of sending Number composition; step S130, generate a data packet according to the serial number of the topic to be sent; wherein, the data packet includes the current ROS system time, the serial numbe...

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Abstract

The invention discloses a multi-robot communication method and device based on an ROS system, and is applied to an information sending end in a multi-robot system. The method comprises the steps: subscribing topics to be sent in the current ROS system; calling a callback function of the topic to generate a sending topic serial number, wherein the sending topic serial number is composed of an information sending end serial number, an information receiving end serial number, a topic serial number and a sending frequency serial number; generating a data packet according to the sending topic serial number, wherein the data packet comprises current ROS system time, a sending topic serial number, a topic type and topic content; sending the data packet to an information receiving end. According to the invention, accurate sending and receiving of messages in a multi-robot communication system can be effectively realized, the topic sending frequency and the information receiving end number areincreased in the topic serial number, the accuracy of message transmission is avoided, and the information transmission errors of the communication system are reduced.

Description

【Technical field】 [0001] The invention belongs to the technical field of robot communication, and in particular relates to a multi-robot communication method and device based on a ROS system. 【Background technique】 [0002] Robots are devices that perform work automatically. With the development of the field of robots, robots can do more and more things for people. The ROS system is a robot management system, which is usually applied on a single robot and uses a data manager to manage the data. [0003] In recent years, the application field of robots has gradually developed from the application of a single robot in a single environment to the application of multiple robots in a multi-scenario environment. This requires managers to coordinate and plan the work content of each robot. When the number of robots is large, this work will become more and more complicated, and a large amount of human resources will be consumed to manage the robots. What followed was a multi-machi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04L29/08
CPCH04L67/12
Inventor 唐炜顾家玮周泽宇
Owner NORTHWESTERN POLYTECHNICAL UNIV
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