A method, device and medium for automatically generating a node graph based on an IROS system

Abstract

The application discloses a method and device for automatically generating a node graph based on an IROS system and a medium, to solve the technical problems of complex relationship between existing service nodes, large learning cost and low work efficiency. The method comprises the following steps: acquiring the topics and services of all services in the IROS system by calling the interface of the IROS system, and determining a plurality of service nodes and the data flow direction between the plurality of service nodes; determining the publisher and the subscriber corresponding to the topic or the service according to the data flow direction; adding the publisher and the subscriber corresponding to the topic or the service to a visual interface through a preset application development framework, and associating the publisher and the subscriber with the topic or the service through a preset connection mode; and drawing the connection relationship between the publisher, the subscriber and the topic or the service according to the data flow direction between the plurality of service nodes through a double-linked list method, to generate a corresponding node graph, thereby reducing the learning cost and improving the work efficiency in a visual manner.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to a method, device and medium for automatically generating a node graph based on an IROS system. BACKGROUND

[0002] A robot operating system (ROS) is a software architecture with high flexibility for writing robot software programs, including hardware abstraction, underlying device control, implementation of common functions, inter-process message passing, and package management, and also provides tools and library functions required for obtaining, compiling, writing, and running code across computers. An IROS system has similar functions to the ROS system, replaces the kernel of the open-source ROS system, provides an interface compatible with the ROS system, solves related problems of reliability, performance, security, and the like in the ROS system, and adds new functions to support cloud-based robot development, support cloud-edge-end communication, support multi-robot collaboration, and the like.

[0003] Robot system development involves a large number of programs, and data is transmitted and services are provided between the programs through topics or services. However, the relationship between the business nodes in the system is relatively complex, the data flow is not clear enough, and a lot of time is needed to master the relationship between the nodes, and the learning cost is relatively large. Moreover, when a problem occurs, a command or a log needs to be used to determine the specific business node that has the problem, and it is difficult to troubleshoot the problem, the troubleshooting time is relatively long, and the work efficiency is relatively low. SUMMARY

[0004] The embodiments of the present application provide a method, device and medium for automatically generating a node graph based on an IROS system, to solve the technical problems that the relationship between the existing business nodes is complex, the data flow is not clear, the learning cost is large, the troubleshooting time is long, and the work efficiency is low.

[0005] In one aspect, the embodiments of the present application provide a method for automatically generating a node graph based on an IROS system, comprising:

[0006] By calling an interface of the IROS system, topics and services corresponding to all businesses in the IROS system are obtained, and a plurality of business nodes corresponding to the topics or services and a data flow between the plurality of business nodes are determined;

[0007] According to the data flow between the plurality of business nodes corresponding to the topics or services, a publisher and a subscriber corresponding to the topics or services are determined;

[0008] add the publisher and the subscriber corresponding to the topic or the service to the visual interface through a preset application development framework, and associate the publisher and the subscriber with the topic or the service through a preset connection mode;

[0009] According to the data flow direction between the plurality of business nodes, a connection relationship between the publisher, the subscriber and the topic or the service is drawn through a double-linked list method to generate a corresponding node graph.

[0010] In an implementation manner of the present application, after the publisher and the subscriber corresponding to the topic or the service are added to the visual interface through the preset application development framework, the method further comprises:

[0011] According to a preset proportion, the size of the business node corresponding to the publisher and the subscriber is adjusted, and attribute information of the business node in the visual interface is modified;

[0012] The attribute information at least includes a node name, a node type and a topic name, and the node type includes the publisher and the subscriber.

[0013] In an implementation manner of the present application, after the attribute information of the business node in the visual interface is modified, the method further comprises:

[0014] When the business node is the publisher, data corresponding to a topic or a service to be published and a data source file are collected, and a publishing time interval corresponding to the topic or the service to be published is determined;

[0015] According to the publishing time interval, the business node corresponding to the publisher is started, and whether the collected data is correct is determined through an interface of the IROS system;

[0016] When the business node is the subscriber, the business node corresponding to the subscriber is started, a subscribed topic or service is acquired, and data corresponding to the topic or the service is displayed in a log column.

[0017] In an implementation manner of the present application, after the connection relationship between the publisher, the subscriber and the topic or the service is drawn through the double-linked list method to generate the corresponding node graph according to the data flow direction between the plurality of business nodes, the method further comprises:

[0018] Based on a preset search algorithm, whether a closed loop exists in the corresponding node graph is detected;

[0019] If yes, the closed loop in the node graph is identified, and the business node in the closed loop and the corresponding data flow direction are converted into a non-closed loop business node and a corresponding data flow direction.

[0020] If no, the in-degree of each service node in the node graph is identified, and a service node with a preset in-degree is separated out to reduce the in-degree of a next service node indicated by the service node with the preset in-degree by one.

[0021] In an implementation manner of the present application, the method further includes:

[0022] The service nodes in the node graph are sorted, and when there is a closed loop in the node graph, the service nodes converted into non-closed loops are connected according to the converted data flow direction corresponding to the edges.

[0023] In an implementation manner of the present application, after the connection relationship among the publishers, the subscribers and the topics or services is drawn by the double-linked list method according to the data flow direction among the plurality of service nodes to generate the corresponding node graph, the method further includes:

[0024] If the process corresponding to the service node is closed, the service node is deleted from the node graph, and a line segment connected with the service node in the node graph is deleted to realize automatic updating of the node graph.

[0025] In an implementation manner of the present application, after the connection relationship among the publishers, the subscribers and the topics or services is drawn by the double-linked list method according to the data flow direction among the plurality of service nodes to generate the corresponding node graph, the method further includes:

[0026] The generated node graph is exported in a preset format file; wherein the preset format at least includes a PDF format and an SVG format.

[0027] In an implementation manner of the present application, after the connection relationship among the publishers, the subscribers and the topics or services is drawn by the double-linked list method according to the data flow direction among the plurality of service nodes to generate the corresponding node graph, the method further includes:

[0028] According to the generated node graph, a menu layout corresponding to the plurality of service nodes in the node graph is determined, and a unique identifier is set for the node graph based on the corresponding menu layout;

[0029] The node graph with the unique identifier is added to a database.

[0030] On the other hand, the embodiments of the present application also provide a device for automatically generating a node graph based on an IROS system, the device comprising:

[0031] at least one processor;

[0032] and a memory connected with the at least one processor in communication;

[0033] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to:

[0034] The method for automatically generating a node graph based on an IROS system.

[0035] In another aspect, the embodiments of the present application also provide a nonvolatile computer storage medium, which stores computer executable instructions, and the computer executable instructions are configured to:

[0036] The method for automatically generating a node graph based on an IROS system.

[0037] The embodiments of the present application provide a method, device and medium for automatically generating a node graph based on an IROS system, which at least have the following beneficial effects: by calling the nodes of the IROS system, all topics and services and the data flow between the multiple business nodes corresponding to the topics or services are obtained, the publishers and subscribers corresponding to the topics are determined, and the publishers and subscribers corresponding to the topics or services are added to a visual interface through a preset application development framework, the relationship between the publishers and the subscribers is associated together in the form of topics or services, the visualization is realized in the form of a node graph, and the relationship between the business nodes and the data flow are clearly displayed. In this way, the staff can determine the problems in the business nodes in time through the node graph, reduce the learning cost of the staff, reduce the work burden of the staff, make the development and debugging more convenient and efficient, and improve the efficiency and quality of the development and testing of intelligent robots. BRIEF DESCRIPTION OF DRAWINGS

[0038] The accompanying drawings, which are included to provide a further understanding of the present application, constitute a part of the present application and illustrate the illustrative embodiments of the present application and its description, and do not constitute improper limitations on the present application. In the drawings:

[0039] Figure 1 A flowchart of a method for automatically generating a node graph based on an IROS system provided by the embodiments of the present application;

[0040] Figure 2 An internal structure diagram of a device for automatically generating a node graph based on an IROS system provided by the embodiments of the present application. DETAILED DESCRIPTION

[0041] In order to make the purposes, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described below in connection with specific embodiments of the present application and corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0042] The embodiments of the present application provide a method, device and medium for automatically generating a node graph based on an IROS system. The method comprises the following steps: calling a node of the IROS system, obtaining all topics and services and data flow directions between a plurality of business nodes corresponding to the topics or the services, determining publishers and subscribers corresponding to the topics, and adding the publishers and the subscribers corresponding to the topics or the services to a visual interface through a preset application development framework, associating the relationship between the publishers and the subscribers together in the form of topics or services, and realizing visualization in the form of a node graph to clearly show the relationship between the business nodes and the data flow directions. In this way, a staff member can determine problems in the business nodes in a timely manner through the node graph, reduce learning costs of the staff member, reduce a work burden of the staff member, make development and debugging more convenient and efficient, and improve the efficiency and quality of development and testing of intelligent robots. The technical problems of complex relationship between the business nodes, unclear data flow directions, large learning costs, long problem troubleshooting time and low work efficiency in the prior art are solved.

[0043] The technical solutions of the embodiments of the present application will be described in detail below with reference to the drawings.

[0044] Figure 1 A flowchart of a method for automatically generating a node graph based on an IROS system provided by the embodiments of the present application is shown in FIG. 1. As shown in FIG. 1, the method for automatically generating a node graph based on an IROS system provided by the embodiments of the present application can mainly comprise the following steps: Figure 1

[0045] Step 101: calling an interface of the IROS system, obtaining topics and services corresponding to all businesses in the IROS system, and determining a plurality of business nodes corresponding to the topics or the services and data flow directions between the plurality of business nodes.

[0046] In an intelligent robot, a plurality of hardware is generally needed to cooperate with each other to complete a function, and each hardware has one or more drivers. The drivers send data for interaction through topics or services, so as to complete a certain action or function. In order to facilitate a staff member to debug an interface and test a program, an interface is also provided in the IROS system.

[0047] ​The application is based on the communication function and the robot development component of the IROS system, and the interface of the IROS system is called to obtain all the topics and services corresponding to the business in the IROS system, and a plurality of business nodes corresponding to each topic or service and the data flow direction between the plurality of business nodes are determined, so as to facilitate subsequent operations.

[0048] Step 102: According to the data flow direction between the plurality of business nodes corresponding to the topic or service, the publisher and the subscriber corresponding to the topic or service are determined.

[0049] The server determines the publisher and the subscriber in the plurality of business nodes corresponding to the topic or service according to the plurality of business nodes corresponding to the topic or service and the data flow direction between the plurality of business nodes, so that the determined publisher and the subscriber can be visually operated.

[0050] Step 103: The publisher and the subscriber corresponding to the topic or service are added to the visual interface through the preset application development framework, and the publisher and the subscriber are associated with the topic or service through the preset connection mode.

[0051] The server adds the publisher and the subscriber corresponding to the topic or service to the visual interface through the preset application development framework Qt, and uses an ellipse to represent the publisher and the subscriber, uses a rectangle to represent the topic and the service, and uses an arrow and a line segment to represent the relationship between the business nodes, so as to connect the business nodes through the arrow and the line segment, and realize the association between the publisher, the subscriber and the topic or service.

[0052] In an embodiment of the application, after the server adds the publisher and the subscriber corresponding to the topic or service to the visual interface through the preset application development framework, the business nodes in the visual interface need to be adjusted according to the preset proportion of the business nodes, so that the size of the business nodes corresponding to the publisher and the subscriber in the visual interface conforms to the actual size.

[0053] Then the server also modifies the attribute information of each business node in the visual interface. It should be noted that the attribute information in the embodiment of the application includes, for example, the name of the node, the type of the node, the name of the topic, the format of the message, and the namespace information, and the type of the node includes the publisher and the subscriber.

[0054] In an embodiment of the present application, after the server modifies the attribute information of the business nodes in the visualization interface, when the node type of the business node is a publisher, the server collects the data corresponding to the to-be-published topic or service and the data source file, determines the publishing time interval corresponding to the to-be-published topic or service, then starts the business node corresponding to the publisher at the publishing time interval, and determines whether the collected data is correct through the interface of the IROS system; and when the business node is a subscriber, the server starts the business node corresponding to the subscriber to obtain the subscribed topic or service, and displays the data corresponding to the topic or service in the log column, so that the staff can intuitively obtain the data corresponding to the topic or service from the log column.

[0055] Step 104: According to the data flow direction between the plurality of business nodes, the connection relationship between the publisher, the subscriber, and the topic or service is drawn by the double-linked list method to generate a corresponding node graph.

[0056] After the server adds the publisher and the subscriber corresponding to the topic or service to the visualization interface through the Qt framework, and associates the publisher, the subscriber, and the topic or service, according to the data flow direction between the plurality of business nodes, the connection relationship between the publisher, the subscriber, and the topic or service is drawn by the double-linked list method, and in combination with the publisher, the subscriber, and the topic or service added to the visualization interface according to the Qt framework, a complete node graph is generated to realize automatic generation of the node graph.

[0057] In an embodiment of the present application, after the server draws the connection relationship between the publisher, the subscriber, and the topic or service according to the data flow direction between the plurality of business nodes by the double-linked list method to generate a corresponding node graph, the server also needs to detect whether there is a closed loop in the node graph corresponding to the data flow direction between the plurality of business nodes based on a preset search algorithm. If yes, the closed loop in the node graph is identified, and the business nodes in the closed loop and the corresponding data flow direction are converted into non-closed loop form; if not, the in-degree of each business node in the node graph is identified, and the business node with a preset in-degree is separated, so that the in-degree of the next business node pointed to by the business node with the preset in-degree is reduced by one.

[0058] It should be noted that the preset search algorithm in the embodiment of the present application is a depth-first search algorithm detection, and the preset value corresponding to the in-degree is set to 0.

[0059] In an embodiment of the present application, the server sorts the service nodes in the node graph, and when there is a closed loop in the node graph, connects the service nodes converted into non-closed loops according to the corresponding edges of the converted data flow direction. By sorting the service nodes in the node graph, the readability of the node graph can be enhanced, and when there are many service nodes, the sorting can make the node graph clearer and the data flow direction between the service nodes more intuitive.

[0060] In an embodiment of the present application, after the server draws the connection relationship between the publishers, subscribers, topics or services according to the data flow direction between the plurality of service nodes by the double-linked list method to generate the corresponding node graph, the server can realize real-time updating of the node graph. When it is necessary to close the process corresponding to a service node in the node graph, the server deletes the service node in the node graph and deletes the line segment connecting the service node with other service nodes in the node graph, thereby realizing automatic updating of the node graph.

[0061] In the node graph of the present application, the automatically generated service nodes are marked in red, and the manually created service nodes are marked in green. When a new service node is added in the node graph, the corresponding connection line is automatically generated according to the relationship between the new service node and other service nodes.

[0062] In an embodiment of the present application, after the server draws the connection relationship between the publishers, subscribers, topics or services according to the data flow direction between the plurality of service nodes by the double-linked list method to generate the corresponding node graph, the server exports the generated node graph in a file in a preset format.

[0063] It should be noted that the preset format in the embodiments of the present application at least includes PDF format and SVG format.

[0064] In an embodiment of the present application, after the server draws the connection relationship between the publishers, subscribers, topics or services according to the data flow direction between the plurality of service nodes by the double-linked list method to generate the corresponding node graph, the server determines the menu layout corresponding to the plurality of service nodes in the node graph according to the generated node graph, sets a unique identifier for the node graph based on the determined corresponding menu layout, and then adds the node graph with the unique identifier to the database, thereby facilitating visual management.

[0065] The above is a method embodiment of the present application. Based on the same inventive concept, the embodiments of the present application also provide an apparatus for automatically generating a node graph based on IROS, the structure of which is shown in Figure 2 .

[0066] Figure 2An internal structure diagram of a device for automatically generating a node graph based on an IROS system is provided in an embodiment of the present application. As shown in Figure 2 The device comprises:

[0067] at least one processor;

[0068] and a memory in communication connection with the at least one processor;

[0069] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to:

[0070] acquire, by calling an interface of the IROS system, topics and services corresponding to all businesses in the IROS system, and determine a plurality of business nodes corresponding to the topics or services and a data flow direction between the plurality of business nodes;

[0071] determine, according to the data flow direction between the plurality of business nodes corresponding to the topics or services, publishers and subscribers corresponding to the topics or services;

[0072] add, by a preset application development framework, the publishers and the subscribers corresponding to the topics or services to a visual interface, and associate the publishers and the subscribers with the topics or services by a preset connection mode;

[0073] draw, according to the data flow direction between the plurality of business nodes, a connection relationship between the publishers, the subscribers, and the topics or services by a double-linked list method, to generate a corresponding node graph.

[0074] An embodiment of the present application further provides a nonvolatile computer storage medium, which stores computer executable instructions, and the computer executable instructions are set to:

[0075] acquire, by calling an interface of the IROS system, topics and services corresponding to all businesses in the IROS system, and determine a plurality of business nodes corresponding to the topics or services and a data flow direction between the plurality of business nodes;

[0076] determine, according to the data flow direction between the plurality of business nodes corresponding to the topics or services, publishers and subscribers corresponding to the topics or services;

[0077] add, by a preset application development framework, the publishers and the subscribers corresponding to the topics or services to a visual interface, and associate the publishers and the subscribers with the topics or services by a preset connection mode;

[0078] draw, according to the data flow direction between the plurality of business nodes, a connection relationship between the publishers, the subscribers, and the topics or services by a double-linked list method, to generate a corresponding node graph.

[0079] The various embodiments in the present application are described in a progressive manner, and the same or similar parts among the various embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments. In particular, the device and medium embodiments are described simply because they are substantially similar to the method embodiments, and the relevant parts can be referred to the description of the method embodiments.

[0080] The device and medium provided by the embodiments of the present application are one-to-one corresponding to the method, and therefore, the device and medium also have the similar beneficial technical effects as the method. Since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the device and medium will not be described here.

[0081] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. In addition, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0082] The present application is described with reference to flowcharts and / or block diagrams of the method, device (system), and computer program product according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the computer or other programmable data processing apparatus produce a device implemented in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 means for performing the function specified by one or more blocks.

[0083] These computer program instructions can also be stored in a computer-readable memory that can direct the computer or other programmable data processing apparatus to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including instruction means, which implements the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0084] These computer program instructions can also be loaded into a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 Figure 1

[0085] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0086] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) about which the computer stores information about an operating system, application software, and / or the like. Memory is an example of computer readable media.

[0087] Computer readable media includes permanent and non-permanent, moveable and non- moveable media that can be implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disks (DVDs) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that is accessible to a computing device. According to the definition provided herein, computer readable media does not include transitory media, such as modulated data signals and carrier waves.

[0088] It is also noted that the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0089] ​​The above merely provides an example of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application should be included in the scope of claims of the present application.

Claims

1. A method for automatically generating a node graph based on an IROS system, characterized in that, The method comprises: obtaining the topics and services corresponding to all businesses in the IROS system by calling the interface of the IROS system, and determining the multiple business nodes corresponding to the topics or services and the data flow direction between the multiple business nodes; determining the publisher and the subscriber corresponding to the topics or services according to the data flow direction between the multiple business nodes corresponding to the topics or services; adding the publisher and the subscriber corresponding to the topics or services to the visual interface through the preset application development framework, and associating the publisher and the subscriber with the topics or services through the preset connection mode; drawing the connection relationship between the publisher, the subscriber and the topics or services according to the data flow direction between the multiple business nodes through the double-linked list method to generate the corresponding node graph; after adding the publisher and the subscriber corresponding to the topics or services to the visual interface through the preset application development framework, the method further comprises: adjusting the size of the business nodes corresponding to the publisher and the subscriber according to the preset proportion, and modifying the attribute information of the business nodes in the visual interface; wherein the attribute information at least includes: node name, node type and topic name, and the node type includes publisher and subscriber; after modifying the attribute information of the business nodes in the visual interface, the method further comprises: when the business node is a publisher, collecting the data corresponding to the to-be-published topics or services and the data source file, and determining the publishing time interval corresponding to the to-be-published topics or services; starting the business node corresponding to the publisher according to the publishing time interval, and determining whether the collected data is correct through the interface of the IROS system; when the business node is a subscriber, starting the business node corresponding to the subscriber, obtaining the subscribed topics or services, and displaying the data corresponding to the topics or services in the log column; after drawing the connection relationship between the publisher, the subscriber and the topics or services according to the data flow direction between the multiple business nodes through the double-linked list method to generate the corresponding node graph, the method further comprises: detecting whether there is a closed loop in the corresponding node graph based on the preset search algorithm; if yes, identifying the closed loop in the node graph, and converting the business nodes in the closed loop and the corresponding data flow direction into non-closed-loop business nodes and the corresponding data flow direction; if no, identifying the in-degree of each business node in the node graph, and separating out the business node with the preset in-degree to reduce the in-degree of the next business node pointed by the business node with the preset in-degree by one; the method further comprises: sorting the business nodes in the node graph, and connecting the converted non-closed-loop business nodes according to the edges corresponding to the converted data flow direction when there is a closed loop in the node graph.

2. The method for automatically generating a node graph based on an IROS system according to claim 1, wherein, According to the data flow direction between the plurality of business nodes, the connection relationship between the publisher, the subscriber and the topic or service is drawn by a double-linked list method to generate a corresponding node graph, and the method further comprises: If the process corresponding to the business node is closed, the business node is deleted from the node graph, and a line segment connected with the business node in the node graph is deleted to realize automatic updating of the node graph.

3. The method for automatically generating a node graph based on an IROS system according to claim 1, wherein, According to the data flow direction between the plurality of business nodes, the connection relationship between the publisher, the subscriber and the topic or service is drawn by a double-linked list method to generate a corresponding node graph, and the method further comprises: The generated node graph is exported in a preset format file; wherein the preset format at least includes PDF format and SVG format.

4. The method for automatically generating a node graph based on an IROS system according to claim 1, wherein, According to the data flow direction between the plurality of business nodes, the connection relationship between the publisher, the subscriber and the topic or service is drawn by a double-linked list method to generate a corresponding node graph, and the method further comprises: According to the generated node graph, a menu layout corresponding to a plurality of business nodes in the node graph is determined, and a unique identifier is set for the node graph based on the corresponding menu layout; The node graph with the unique identifier is added to a database.

5. A device for automatically generating node graphs based on an IROS system, characterized in that, The device comprises: at least one processor; and a memory connected in communication with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to: execute a method for automatically generating a node graph based on an IROS system according to any one of claims 1-4.

6. A non-transitory computer storage medium storing computer-executable instructions that, when executed, cause a computer to perform: The computer executable instructions are configured to: execute a method for automatically generating a node graph based on an IROS system according to any one of claims 1-4.

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