A method, device, system and medium for managing an IROS message type structure

Abstract

The application discloses a kind of IROS message type structure management method, equipment, system and medium. Method includes: in the case where IROS starts, preset in the server end tool of IROS follows IROS start, IROS msglib folder is monitored, to determine whether to produce change IROS message type;Wherein, change IROS message type includes: add IROS message type or modify IROS message type;In the case where it is determined to produce change IROS message type, server end tool will change IROS message type corresponding IROS message type dynamic library upload to cloud end;Cloud end is based on IROS reflection mechanism, IROS message type dynamic library is parsed, to determine the attribute information of change IROS message type, and attribute information is updated to cloud end database;Wherein, attribute information includes: the type name of change IROS message type, the parameter contained in change IROS message type and the parameter type of each parameter.The application realizes the management maintenance of IROS message type by the above method, improves the efficiency of IROS robot communication development and debugging.

Description

Technical Field

[0001] The present application relates to the field of intelligent robot technology, and in particular to a management method, device, system and medium for an IROS message type structure. Background Art

[0002] IROS (Intelligent Robot Operating System, abbreviated as "IROS") is a meta-operating system for robots. It adopts a distributed architecture, enables rapid deployment of robots, supports basic communication functions such as topics, services, and parameters, provides robots with a real-time and stable message communication mechanism, and integrates a large number of toolkits to simplify robot control and development.

[0003] In addition to supporting the initial basic message types, IROS communication also supports user-defined message types. Custom message types often include basic message types and even other custom message types. As the number of message types gradually increases, it is difficult for users to master the existing message types and their member structures in IROS, which brings inconvenience to the communication development and debugging of IROS robots. Summary of the Invention

[0004] The embodiments of the present application provide a management method, device, system and medium for an IROS message type structure to solve the following technical problems: how to implement the management and maintenance of IROS message types and improve the efficiency of IROS robot communication development and debugging.

[0005] In a first aspect, an embodiment of the present application provides a method for managing an IROS message type structure, characterized in that the method includes: when IROS is started, a server-side tool pre-installed in IROS starts up along with IROS, and monitors the msglib folder of IROS to determine whether a change in the IROS message type occurs; wherein, changing the IROS message type includes: adding a new IROS message type or modifying the IROS message type; when it is determined that a change in the IROS message type occurs, the server-side tool uploads the IROS message type dynamic library corresponding to the changed IROS message type to the cloud; the cloud parses the IROS message type dynamic library based on the IROS reflection mechanism to determine the attribute information of the changed IROS message type, and updates the attribute information to the cloud database; wherein, the attribute information includes: the type name of the changed IROS message type, the parameters included in the changed IROS message type, and the parameter type of each parameter.

[0006] In an implementation of the present application, the method further comprises: in the case of adding or modifying an IROS message type, compiling the changed IROS message type based on the IROS generate tool to obtain an IROS message type dynamic library corresponding to the changed IROS message type; and adding the IROS message type dynamic library to the msglib folder of the IROS.

[0007] In an implementation of the present application, the method further comprises: in the case of adding or modifying an IROS message type, compiling the changed IROS message type based on the IROS generate tool to obtain an IROS message type dynamic library corresponding to the changed IROS message type; and adding the IROS message type dynamic library to the msglib folder of the IROS.

[0008] In an implementation of the present application, the cloud side analyzes the IROS message type dynamic library based on the IROS reflection mechanism to determine the attribute information of the changed IROS message type, specifically comprising: opening the creation interface of the IROS message type dynamic library to create a message type instance based on the IROS reflection mechanism to determine the type name of the changed IROS message type and create a corresponding message type instance; and analyzing the message type instance to determine the parameters contained in the changed IROS message type and the parameter types of each parameter.

[0009] In an implementation of the present application, the cloud side analyzes the IROS message type dynamic library based on the IROS reflection mechanism to determine the attribute information of the changed IROS message type, specifically comprising: opening the creation interface of the IROS message type dynamic library to create a message type instance based on the IROS reflection mechanism to determine the type name of the changed IROS message type and create a corresponding message type instance; and analyzing the message type instance to determine the parameters contained in the changed IROS message type and the parameter types of each parameter.

[0010] In one implementation of the present application, the method further includes: reading attribute information of each IROS message type in the cloud database based on a client-side tool pre-installed in IROS; and displaying the structure of each IROS message type based on a visualization window of the client-side tool.

[0011] In one implementation of the present application, the method also includes: when the robot needs the IROS message type to be applied for IROS message communication and the IROS message type to be applied does not exist locally, connecting to the cloud database based on the download function of the client tool; determining the corresponding IROS message type dynamic library to be applied based on the type name of the IROS message type to be applied; and downloading the IROS message type dynamic library to be applied.

[0012] In a second aspect, an embodiment of the present application also provides a management device for an IROS message type structure, characterized in that the device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can: when IROS is started, the server-side tool pre-installed in IROS starts up following IROS, monitors the msglib folder of IROS to determine whether a change in the IROS message type occurs; wherein, changing the IROS message type includes: adding a new IROS message type or modifying the IROS message type; when it is determined that a change in the IROS message type occurs, the server-side tool uploads the IROS message type dynamic library corresponding to the changed IROS message type to the cloud; the cloud parses the IROS message type dynamic library based on the IROS reflection mechanism to determine the attribute information of the changed IROS message type, and updates the attribute information to the cloud database; wherein the attribute information includes: the type name of the changed IROS message type, the parameters included in the changed IROS message type, and the parameter type of each parameter.

[0013] On the third aspect, an embodiment of the present application also provides a management system for an IROS message type structure, characterized in that the system includes: a startup module, an upload module, and a parsing module; the startup module is used for, when IROS is started, the server-side tool pre-installed in IROS starts up following IROS, and monitors the msglib folder of IROS to determine whether a change in the IROS message type occurs; wherein, changing the IROS message type includes: adding a new IROS message type or modifying the IROS message type; the upload module is used for, when it is determined that a change in the IROS message type occurs, the server-side tool uploads the IROS message type dynamic library corresponding to the changed IROS message type to the cloud; the parsing module is used for, based on the IROS reflection mechanism in the cloud, to parse the IROS message type dynamic library to determine the attribute information of the changed IROS message type, and update the attribute information to the cloud database; wherein, the attribute information includes: the type name of the changed IROS message type, the parameters included in the changed IROS message type, and the parameter type of each parameter.

[0014] In a fourth aspect, an embodiment of the present application further provides a non-volatile computer storage medium for managing an IROS message type structure, storing computer executable instructions, characterized in that the computer executable instructions are set to: when IROS is started, a server-side tool pre-installed in IROS starts up following IROS, and monitors the msglib folder of IROS to determine whether a change in the IROS message type occurs; wherein, changing the IROS message type includes: adding a new IROS message type or modifying the IROS message type; when it is determined that a change in the IROS message type occurs, the server-side tool uploads the IROS message type dynamic library corresponding to the changed IROS message type to the cloud; the cloud parses the IROS message type dynamic library based on the IROS reflection mechanism to determine the attribute information of the changed IROS message type, and updates the attribute information to the cloud database; wherein, the attribute information includes: the type name of the changed IROS message type, the parameters included in the changed IROS message type, and the parameter type of each parameter.

[0015] The embodiments of this application provide a method, device, system, and medium for managing IROS message type structures. These methods enable the management, maintenance, and query display of IROS message types and their member structures, enabling users to quickly understand existing message types and their member structures in IROS. Furthermore, IROS message types can be directly downloaded from the cloud for local use, improving the efficiency of IROS robot communication development and debugging. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0017] Figure 1 A flow chart of a method for managing an IROS message type structure provided in an embodiment of the present application;

[0018] Figure 2 A schematic diagram of the internal structure of a management device for an IROS message type structure provided in an embodiment of the present application;

[0019] Figure 3 A schematic diagram of the internal structure of a management system of an IROS message type structure provided in an embodiment of the present application. DETAILED DESCRIPTION

[0020] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0021] The embodiments of the present application provide a management method, device, system and medium for an IROS message type structure to solve the following technical problems: how to implement the management and maintenance of IROS message types and improve the efficiency of IROS robot communication development and debugging.

[0022] The technical solutions proposed in the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0023] Figure 1 This is a flow chart of a management method for an IROS message type structure provided in an embodiment of the present application. Figure 1 As shown, an embodiment of the present application provides a method for managing an IROS message type structure, which specifically includes the following steps:

[0024] Step 101: When IROS is started, the server-side tool pre-installed in IROS starts with IROS and monitors the msglib folder of IROS to determine whether a change in the IROS message type occurs.

[0025] In one embodiment of the present application, to manage the IROS message type structure, a server-side tool is integrated into IROS. When IROS is started, the server-side tool pre-installed in IROS starts with IROS and monitors the msglib folder of IROS to determine whether a change in the IROS message type occurs. It should be noted that changing the IROS message type includes: adding a new IROS message type or modifying an IROS message type.

[0026] In one embodiment of the present application, when a new IROS message type is added or an IROS message type is modified, IROS will compile the changed IROS message type based on the generate tool therein to obtain the IROS message type dynamic library corresponding to the changed IROS message type, and add the IROS message type dynamic library to the msglib folder of IROS.

[0027] In one embodiment of the present application, the msglib folder of IROS is monitored as periodic monitoring or triggered monitoring. After the monitoring instruction is triggered, it is first determined whether the change time corresponding to the change timestamp of each IROS message type dynamic library in the msglib folder is within the time period from the historical monitoring time to the current time; it can be understood that the historical monitoring time is the time corresponding to the last monitoring of the msglib folder.

[0028] Further, when it is determined that the corresponding change time of the IROS message type dynamic library exists within the period from the historical monitoring moment to the current moment, the IROS message type corresponding to the IROS message type dynamic library is determined to be a changed IROS message type.

[0029] Step 102: When it is determined that the IROS message type is changed, the server-side tool uploads the IROS message type dynamic library corresponding to the changed IROS message type to the cloud.

[0030] In one embodiment of the present application, when the server-side tool detects that a change in the IROS message type occurs in the msglib folder, the IROS message type dynamic library corresponding to the changed IROS message type is uploaded to the cloud.

[0031] Step 103: The cloud parses the IROS message type dynamic library based on the IROS reflection mechanism to determine the attribute information of the changed IROS message type, and updates the attribute information to the cloud database.

[0032] In one embodiment of the present application, after receiving the uploaded IROS message type dynamic library on the cloud, the IROS message type dynamic library is first stored, and then, based on the IROS reflection mechanism, the IROS message type dynamic library is parsed to determine the attribute information of the changed IROS message type. It should be noted that the attribute information of the changed IROS message type includes: the type name of the changed IROS message type, the parameters included in the changed IROS message type, and the parameter type of each parameter.

[0033] Specifically, based on the IROS reflection mechanism, the creation interface of the IROS message type dynamic library is opened to create a message type instance, so as to determine the change of the type name of the IROS message type and create a corresponding message type instance.

[0034] Further, the message type instance is read to determine the variable interface of all JSON format variables contained in the message type instance, and the variable type name interface corresponding to each variable interface; each variable interface is opened to obtain the parameter name JSON string containing the parameter name returned by each variable interface, and based on the parameter name JSON string, the parameter name of each parameter included in the changed IROS message type is determined; the variable type name interface corresponding to each variable interface is opened to obtain the parameter type JSON string containing the parameter type returned by the variable type name interface, and based on the parameter type JSON string, the parameter type of each parameter included in the changed IROS message type is determined.

[0035] In one embodiment of the present application, a client-side tool is integrated into IROS to enable query and display of IROS message types. The client-side tool can read the attribute information of each IROS message type in the cloud database and display the structure of each IROS message type based on the client-side tool's visualization window.

[0036] In one embodiment of the present application, the client-side tool can also provide a search function, a refresh function, and a download function. Among them, the search function supports fuzzy search, precise search, and word segmentation search, and can quickly find matching items in all IROS message types. The expand structure function supports displaying the member structure of the selected message type on the interface, and the display results include the member variables of the message type and the type name of the member variables. The refresh function can obtain the latest message type from the cloud database. The download function can download the IROS message type dynamic library corresponding to the selected message type from the cloud to a local folder for use by the robot.

[0037] In one embodiment of the present application, when the robot needs an IROS message type to be applied for IROS message communication and the IROS message type to be applied does not exist locally, the cloud database is connected based on the download function of the client tool; based on the type name of the IROS message type to be applied, the corresponding IROS message type dynamic library to be applied is determined; and the IROS message type dynamic library to be applied is downloaded.

[0038] The above is an embodiment of the method proposed in this application. Based on the same inventive concept, this application embodiment also provides a management device for the IROS message type structure, whose structure is as follows: Figure 2 shown.

[0039] Figure 2 This is a schematic diagram of the internal structure of a management device for an IROS message type structure provided in an embodiment of the present application. Figure 2 As shown, the equipment includes:

[0040] at least one processor 201;

[0041] and, a memory 202 communicatively coupled to the at least one processor;

[0042] The memory 202 stores instructions that can be executed by at least one processor, and the instructions are executed by the at least one processor 201 to enable the at least one processor 201 to:

[0043] When IROS is started, the server-side tool pre-installed in IROS starts with IROS and monitors the msglib folder of IROS to determine whether the IROS message type is changed; wherein, the change of IROS message type includes: adding an IROS message type or modifying an IROS message type;

[0044] When it is determined that the IROS message type needs to be changed, the server-side tool uploads the IROS message type dynamic library corresponding to the changed IROS message type to the cloud;

[0045] Based on the IROS reflection mechanism, the cloud parses the IROS message type dynamic library to determine the attribute information of the changed IROS message type and updates the attribute information to the cloud database; the attribute information includes: the type name of the changed IROS message type, the parameters included in the changed IROS message type and the parameter type of each parameter.

[0046] The above is an embodiment of the method proposed in this application. Based on the same inventive concept, this application embodiment also provides a management system for IROS message type structure, whose structure is as follows: Figure 3 shown.

[0047] Figure 3 This is a schematic diagram of the internal structure of a management system of an IROS message type structure provided in an embodiment of the present application. Figure 3 As shown, the system 300 includes: a startup module 301 , an upload module 302 , and a parsing module 303 .

[0048] In one embodiment of the present application, the startup module 301 is used for, when IROS is started, the server-side tool pre-installed in IROS starts up along with IROS, and monitors the msglib folder of IROS to determine whether a change in the IROS message type occurs; wherein, the change in the IROS message type includes: adding a new IROS message type or modifying the IROS message type; the upload module 302 is used for, when it is determined that a change in the IROS message type occurs, the server-side tool uploads the IROS message type dynamic library corresponding to the changed IROS message type to the cloud; the parsing module 303 is used for, based on the IROS reflection mechanism in the cloud, to parse the IROS message type dynamic library to determine the attribute information of the changed IROS message type, and update the attribute information to the cloud database; wherein, the attribute information includes: the type name of the changed IROS message type, the parameters included in the changed IROS message type, and the parameter type of each parameter.

[0049] Some embodiments of the present application provide corresponding Figure 1 A non-volatile computer storage medium for managing an IROS message type structure stores computer executable instructions, the computer executable instructions being configured to:

[0050] When IROS is started, the server-side tool pre-installed in IROS starts with IROS and monitors the msglib folder of IROS to determine whether the IROS message type is changed; wherein, the change of IROS message type includes: adding an IROS message type or modifying an IROS message type;

[0051] When it is determined that the IROS message type needs to be changed, the server-side tool uploads the IROS message type dynamic library corresponding to the changed IROS message type to the cloud;

[0052] Based on the IROS reflection mechanism, the cloud parses the IROS message type dynamic library to determine the attribute information of the changed IROS message type and updates the attribute information to the cloud database; the attribute information includes: the type name of the changed IROS message type, the parameters included in the changed IROS message type and the parameter type of each parameter.

[0053] 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 IoT device and medium embodiments are described simply because they are basically similar to the method embodiments.

[0054] The system and medium provided by the embodiments of the present application are one-to-one corresponding to the method, and therefore, the system and medium also have similar beneficial technical effects to the method. Since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the system and medium will not be described here.

[0055] 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.

[0056] 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 processor of 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 processor of the computer or other programmable data processing apparatus produce a device implemented in the flowcharts and / or block diagrams. Figure 1 The function specified in one flow or multiple flows and / or blocks Figure 1 The function specified in one block or multiple blocks.

[0057] 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 devices that implement the flowcharts and / or block diagrams. Figure 1 The function specified in one flow or multiple flows and / or blocks Figure 1 The function specified in one block or multiple blocks.

[0058] 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

[0059] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0060] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) and / or cache memory, which can provide temporary storage for information. The memory can also include non-volatile memory, such as read-only memory (ROM) and / or flash memory, which can provide longer-term storage for information. The memory is an example of computer-readable media.

[0061] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can be implemented by any method or technology for storing information. Information can be 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 disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. According to the definition herein, computer-readable media does not include transitory media, such as modulated data signals and carriers.

[0062] It should also be noted that the terms "comprising", "including", or any other variation thereof, are intended to cover a non-exclusive inclusion, so that a process, method, article or apparatus that includes a list of elements does not only include those elements, but also includes other elements not expressly listed or inherent to such process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0063] ​​The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A method for managing IROS message type structure, characterized in that: The method comprises: When IROS is started, the server-side tool pre-installed in IROS starts with IROS and monitors the msglib folder of IROS to determine whether a change in the IROS message type occurs; wherein the change in the IROS message type includes: adding a new IROS message type or modifying the IROS message type; In the case of determining that a change in the IROS message type occurs, the server-side tool uploads the IROS message type dynamic library corresponding to the changed IROS message type to the cloud; The cloud side parses the IROS message type dynamic library based on the IROS reflection mechanism to determine the attribute information of the changed IROS message type, and updates the attribute information to the cloud side database; wherein, the attribute information includes: the type name of the changed IROS message type, the parameters included in the changed IROS message type and the parameter type of each parameter.

2. A method for managing an IROS message type structure according to claim 1, characterized in that: The method further comprises: In the case of adding a new IROS message type or modifying an IROS message type, compiling the changed IROS message type based on the IROS generate tool to obtain an IROS message type dynamic library corresponding to the changed IROS message type; Add the IROS message type dynamic library to the msglib folder of the IROS.

3. A method for managing IROS message type structure according to claim 1, characterized in that: Monitor the IROS msglib folder to determine if changes have been made to the IROS message types, including: Determine whether the change time corresponding to the change timestamp of each IROS message type dynamic library in the msglib folder is within the period from the historical monitoring time to the current time; wherein the historical monitoring time is the time corresponding to the last monitoring of the msglib folder; When it is determined that the corresponding change time of the IROS message type dynamic library exists within the period from the historical monitoring time to the current time, the IROS message type corresponding to the IROS message type dynamic library is determined to be a changed IROS message type.

4. A method for managing an IROS message type structure according to claim 1, characterized in that: The cloud parses the IROS message type dynamic library based on the IROS reflection mechanism to determine the attribute information of the changed IROS message type, specifically including: Based on the IROS reflection mechanism, open the creation interface of the IROS message type dynamic library to create a message type instance, so as to determine the type name of the changed IROS message type and create a corresponding message type instance; The message type instance is parsed to determine the parameters included in the change IROS message type and the parameter type of each parameter.

5. A method for managing an IROS message type structure according to claim 4, characterized in that: Parse the message type instance to determine the parameters and parameter types of the parameters included in the change IROS message type, specifically including: Read the message type instance to determine the variable interfaces of all JSON format variables contained in the message type instance, and the variable type name interface corresponding to each variable interface; Open each variable interface to obtain a parameter name JSON string containing a parameter name returned by each variable interface, and determine the parameter name of each parameter included in the changed IROS message type based on the parameter name JSON string; Open the variable type name interface corresponding to each variable interface to obtain the parameter type JSON string containing the parameter type returned by the variable type name interface, and based on the parameter type JSON string, determine the parameter type of each parameter contained in the changed IROS message type.

6. A method for managing IROS message type structure according to claim 1, characterized in that: The method further comprises: Based on the client-side tools pre-installed in IROS, read the attribute information of each IROS message type in the cloud database; Based on the visualization window of the client tool, the structure of each IROS message type is displayed.

7. A method for managing IROS message type structure according to claim 6, characterized in that: The method further comprises: When the robot needs to use an IROS message type to perform IROS message communication and the IROS message type to be used does not exist locally, the robot connects to the cloud database based on the download function of the client tool; Determine a corresponding IROS message type dynamic library based on the type name of the IROS message type to be applied; Download the IROS message type dynamic library to be applied.

8. A management device for an IROS message type structure, characterized in that: The device comprises: at least one processor; and, a memory communicatively coupled to the at least one processor; The memory stores instructions that can be executed 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: When IROS is started, the server-side tool pre-installed in IROS starts with IROS and monitors the msglib folder of IROS to determine whether a change in the IROS message type occurs; wherein the change in the IROS message type includes: adding a new IROS message type or modifying the IROS message type; In the case of determining that a change in the IROS message type occurs, the server-side tool uploads the IROS message type dynamic library corresponding to the changed IROS message type to the cloud; The cloud side parses the IROS message type dynamic library based on the IROS reflection mechanism to determine the attribute information of the changed IROS message type, and updates the attribute information to the cloud side database; wherein, the attribute information includes: the type name of the changed IROS message type, the parameters included in the changed IROS message type and the parameter type of each parameter.

9. A management system for an IROS message type structure, characterized in that: The system includes: a startup module, an upload module, and a parsing module; The startup module is used for, when IROS is started, the server-side tool pre-installed in IROS starts up along with IROS, monitoring the msglib folder of IROS to determine whether to change the IROS message type; wherein, the change of IROS message type includes: adding a new IROS message type or modifying the IROS message type; The upload module is used for uploading the IROS message type dynamic library corresponding to the changed IROS message type to the cloud by the server-side tool when determining that a changed IROS message type occurs; The parsing module is used in the cloud to parse the IROS message type dynamic library based on the IROS reflection mechanism to determine the attribute information of the changed IROS message type and update the attribute information to the cloud database; wherein, the attribute information includes: the type name of the changed IROS message type, the parameters included in the changed IROS message type and the parameter type of each parameter.

10. A non-volatile computer storage medium for managing IROS message type structures, storing computer executable instructions, characterized in that: The computer executable instructions are configured to: When IROS is started, the server-side tool pre-installed in IROS starts with IROS and monitors the msglib folder of IROS to determine whether a change in the IROS message type occurs; wherein the change in the IROS message type includes: adding a new IROS message type or modifying the IROS message type; In the case of determining that a change in the IROS message type occurs, the server-side tool uploads the IROS message type dynamic library corresponding to the changed IROS message type to the cloud; The cloud side parses the IROS message type dynamic library based on the IROS reflection mechanism to determine the attribute information of the changed IROS message type, and updates the attribute information to the cloud side database; wherein, the attribute information includes: the type name of the changed IROS message type, the parameters included in the changed IROS message type and the parameter type of each parameter.

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