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Robot development board ROS communication system supporting multiple hardware interfaces

A hardware interface and communication system technology, applied in the field of ROS communication, can solve the problem of less hardware interfaces, and achieve the effect of saving energy consumption, reducing size, and high transmission speed

Active Publication Date: 2021-03-05
中科院软件研究所南京软件技术研究院
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Problems solved by technology

[0004] Therefore, there is an urgent need for a communication system that can solve the problem of few hardware interfaces supported by native ROS communication, allowing ROS to use common hardware interfaces for communication, such as USB2.0, USB3.0, OTG, Bluetooth, serial port, Ethernet, WIFI Wait

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  • Robot development board ROS communication system supporting multiple hardware interfaces
  • Robot development board ROS communication system supporting multiple hardware interfaces

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Embodiment Construction

[0046] The present invention is described in further detail now in conjunction with accompanying drawing.

[0047] It should be noted that terms such as "upper", "lower", "left", "right", "front", and "rear" quoted in the invention are only for clarity of description, not for Limiting the practicable scope of the present invention, and the change or adjustment of the relative relationship shall also be regarded as the practicable scope of the present invention without substantive changes in the technical content.

[0048] combine figure 1 , the present invention refers to a robot development board ROS communication system supporting multiple hardware interfaces, and the ROS communication system includes a virtual network middleware and a virtual adapter.

[0049] The virtual network middleware is used to virtualize different types of hardware interfaces corresponding to lines into network interfaces, and support native ROS communication through virtual IP.

[0050] The virtu...

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Abstract

The invention discloses a robot development board ROS communication system supporting multiple hardware interfaces. The robot development board ROS communication system comprises virtual network middleware and a virtual adapter, wherein the virtual network middleware is used for virtualizing different types of hardware interfaces of corresponding lines into network interfaces and supporting nativeROS communication through a virtual IP; the virtual adapter identifies the received communication data, if the received communication data is ROS data, an original network line is called and graftedto a virtual line with a corresponding line number, the received communication data is locally looped back to a shared memory through a corresponding hardware interface, and if the received communication data is not the ROS data, and the data is transmitted to an external program according to the normal function of the hardware interface. According to the invention, any interface can be flexibly configured for ROS communication according to the interface design and use condition of the embedded development board, so that the design of the ROS development board with low cost and low power consumption is greatly facilitated, and the miniaturization of the development board is also facilitated.

Description

technical field [0001] The invention relates to the technical field of ROS communication, in particular to a robot development board ROS communication system supporting multiple hardware interfaces. Background technique [0002] ROS robot operating system (Robot Operating System) is the current mainstream open source robot software development framework, and its essence is a collection of communication mechanisms, development tools, application functions and ecosystems. ROS communication can only use Ethernet and WIFI hardware interfaces, which hinders the development direction of miniaturization, low power consumption and cost reduction of robot development boards. [0003] In the hardware design of the robot, the number of integrated chips and hardware interfaces of the embedded development board affects its size and cost. On the one hand, boards with more integrated chips and hardware interfaces are more expensive and bulky. On the other hand, using WIFI for communicati...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F13/10G06F13/38G06F13/42G06F9/54H04L12/46
CPCG06F13/102G06F13/387G06F13/4282G06F9/544H04L12/4641G06F2213/0042Y02D10/00
Inventor 张展华硕南罗云翔邸慧军徐志
Owner 中科院软件研究所南京软件技术研究院
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