A method, device, equipment and medium for displaying IROS node status

Abstract

The embodiment of the specification discloses a kind of IROS node state display method, method includes: starting pre-set visualization tool, and pre-set visualization tool is registered in the server corresponding to the IROS node to be shown;IROS node list information of corresponding server is read by pre-set visualization tool;Wherein, IROS node list information includes: the name of each IROS node in the corresponding server;Control pre-set visualization tool obtains the node state display information of the IROS node to be shown based on the name of the IROS node;Wherein, state display information includes communication state information and basic running state information;Node display information is input into the visualization framework of pre-set visualization tool, to show node state display information in graphical interface based on visualization framework.

Description

Technical Field

[0001] This specification relates to the field of intelligent robot operating system technology, and in particular to a method, apparatus, device and medium for displaying the status of IROS nodes. Background Technology

[0002] Intelligent Robot OS (IROS) is a secondary operating system that runs on top of Linux. It provides standardized development interfaces and data processing flows, including hardware abstraction, inter-program messaging, and package management. In IROS, nodes are the basic unit of communication. There are generally two communication methods between nodes: one is a publish-subscribe model (topic-based), and the other is a client-server model (service-based). When starting large programs like mobile robot mapping and navigation, many nodes are often started, including driver nodes for various sensors, map building nodes, navigation nodes, and so on.

[0003] While this distributed architecture, which divides IROS into different functional nodes, makes program development more independent and simpler, and reduces coupling, the startup of a large number of nodes also complicates problem analysis. It makes it difficult for developers and testers to quickly locate the problematic node, reducing testing and development efficiency. Furthermore, current methods typically check the status of the processes running on a node through system commands, and cannot query the communication status between nodes. Summary of the Invention

[0004] To address the aforementioned technical problems, this specification provides one or more embodiments of a method for displaying the status of an IROS node.

[0005] One or more embodiments of this specification employ the following technical solutions:

[0006] This specification provides one or more embodiments of a method for displaying the status of an IROS node, the method including:

[0007] Activate the preset visualization tool and register the preset visualization tool with the server corresponding to the IROS node to be displayed;

[0008] The IROS node list information of the corresponding server is read using the preset visualization tool; wherein, the IROS node list information includes: the name of each IROS node in the corresponding server;

[0009] The preset visualization tool is controlled to obtain the node status display information of the IROS node to be displayed based on the name of the IROS node; wherein, the status display information includes communication status information and basic operating status information;

[0010] The node display information is input into the visualization framework of the preset visualization tool, so that the node status display information is displayed on the graphical interface based on the visualization framework.

[0011] Optionally, in one or more embodiments of this specification, registering the pre-built visualization tool to the server corresponding to the IROS node to be displayed specifically includes:

[0012] Obtain the registration information of the node where the preset visualization tool is located; wherein, the registration information includes: identity identifier, subscription status, subscribed topic, and service information;

[0013] The registration information is uploaded to the server corresponding to the IROS node to be displayed through the registration interface of the pre-built visualization tool, so that the corresponding server registers the pre-built visualization tool based on the registration information.

[0014] Optionally, in one or more embodiments of this specification, before reading the IROS node list information of the corresponding server, the method further includes:

[0015] The registration information of each IROS node is obtained based on the corresponding server monitoring.

[0016] The registration information of the IROS nodes is summarized, and the registration information of each IROS node is written into a preset IROS node list template to generate the IROS node list information and store it in the corresponding server.

[0017] Optionally, in one or more embodiments of this specification, controlling the preset visualization tool to obtain the node status display information of the IROS node to be displayed based on the name of the IROS node specifically includes:

[0018] Based on the registration information of each IROS node in the IROS node list information, the communication relationship of each IROS node is obtained; wherein, the communication relationship includes: the correspondence between topic subscription and topic publication, and the correspondence between client and server;

[0019] Based on the communication relationship, obtain the communication status information corresponding to the IROS node to be displayed in the IROS node list information; wherein, the communication status information includes: topic, service, subscription and publication status;

[0020] The basic operating status information of the IROS node to be displayed is obtained according to the preset system interface; wherein, the basic operating status information includes: the memory of the IROS node to be displayed and the CPU utilization of the IROS node to be displayed, and the preset system interface includes: a preset Linux interface.

[0021] Optionally, in one or more embodiments of this specification, the node display information is input into the visualization framework of the preset visualization tool, so as to display the node status display information on the graphical interface based on the visualization framework, specifically including:

[0022] Obtain the visualization components corresponding to the preset graphical interface, and determine the visualization framework of the preset visualization tool based on the visualization components;

[0023] The node display information is input into the visualization framework, and based on the program scripts of each visualization component in the visualization framework, the node display information is matched to the corresponding position of the preset graphical interface, so that the node status display information is displayed in the graphical interface.

[0024] Optionally, in one or more embodiments of this specification, before obtaining the visual component corresponding to the preset graphical interface, the method further includes:

[0025] The display area of ​​the preset graphical interface is determined, and the display area is functionally divided based on the node status display information of the IROS node to be displayed to obtain display sub-areas; wherein, the display sub-areas include: node detailed information bar, node running status display bar, node basic information display bar, and refresh rate display bar.

[0026] The display format is set based on the location and area information of each display sub-region; the display format includes: font, font size, and color;

[0027] The preset graphical interface is generated by combining the location information, area information, and corresponding display format of each display sub-region.

[0028] Optionally, in one or more embodiments of this specification, after inputting the node display information into the visualization framework of the preset visualization tool, and displaying the node status display information on the graphical interface based on the visualization framework, the method further includes:

[0029] Record the acquisition time of the node display information, and determine the refresh time based on the acquisition time and the preset refresh frequency;

[0030] Control the preset visualization tool to update and obtain the node display information based on the refresh time.

[0031] This specification provides one or more embodiments of an IROS node status display device, the device comprising:

[0032] The registration unit is used to launch the preset visualization tool and register the preset visualization tool to the server corresponding to the IROS node to be displayed;

[0033] The reading unit is used to read the IROS node list information of the corresponding server through the preset visualization tool; wherein, the IROS node list information includes: the name of each IROS node in the corresponding server;

[0034] The acquisition unit is used to control the preset visualization tool to acquire the node status display information of the IROS node to be displayed based on the name of the IROS node; wherein, the status display information includes communication status information and basic operating status information;

[0035] The display unit is used to input the node display information into the visualization framework of the preset visualization tool, so as to display the node status display information on the graphical interface based on the visualization framework.

[0036] This specification provides one or more embodiments of an IROS node status display device, the device comprising:

[0037] At least one processor; and,

[0038] A memory communicatively connected to the at least one processor; wherein,

[0039] The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to:

[0040] Activate the preset visualization tool and register the preset visualization tool with the server corresponding to the IROS node to be displayed;

[0041] The IROS node list information of the corresponding server is read using the preset visualization tool; wherein, the IROS node list information includes: the name of each IROS node in the corresponding server;

[0042] The preset visualization tool is controlled to obtain the node status display information of the IROS node to be displayed based on the name of the IROS node; wherein, the status display information includes communication status information and basic operating status information;

[0043] The node display information is input into the visualization framework of the preset visualization tool, so that the node status display information is displayed on the graphical interface based on the visualization framework.

[0044] This specification provides one or more embodiments of a non-volatile computer storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured as follows:

[0045] Activate the preset visualization tool and register the preset visualization tool with the server corresponding to the IROS node to be displayed;

[0046] The IROS node list information of the corresponding server is read using the preset visualization tool; wherein, the IROS node list information includes: the name of each IROS node in the corresponding server;

[0047] The preset visualization tool is controlled to obtain the node status display information of the IROS node to be displayed based on the name of the IROS node; wherein, the status display information includes communication status information and basic operating status information;

[0048] The node display information is input into the visualization framework of the preset visualization tool, so that the node status display information is displayed on the graphical interface based on the visualization framework.

[0049] The above-described at least one technical solution adopted in the embodiments of this specification can achieve the following beneficial effects:

[0050] By registering pre-built visualization tools as nodes to the corresponding IROS servers, the system enables users to obtain node status information containing communication status data from the respective servers. This avoids the problem of being unable to query the communication status between nodes when viewing the process status of a node through system commands. Furthermore, the obtained node status information is displayed in a graphical interface within a visualization framework, solving the problem that developers and testers often struggle to quickly locate problematic nodes due to the difficulty in obtaining node status data. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0052] Figure 1 A flowchart illustrating a method for displaying the status of an IROS node provided in an embodiment of this specification;

[0053] Figure 2 This is a schematic diagram illustrating a graphical interface provided in an embodiment of this specification.

[0054] Figure 3 This is a schematic diagram illustrating the logic for displaying the state of an IROS node, provided as an embodiment of this specification.

[0055] Figure 4 A schematic diagram of the internal structure of an IROS node status display device provided in the embodiments of this specification;

[0056] Figure 5 A schematic diagram of the internal structure of an IROS node status display device provided in the embodiments of this specification;

[0057] Figure 6 This is a schematic diagram of the internal structure of a non-volatile storage medium provided in the embodiments of this specification. Detailed Implementation

[0058] This specification provides an embodiment of a method, apparatus, device, and medium for displaying the status of an IROS node.

[0059] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments of this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this specification.

[0060] like Figure 1 The diagram shown is a flowchart illustrating a method for displaying the status of an IROS node according to an embodiment of this specification. Figure 1 As can be seen, one or more embodiments of this specification include a method for displaying the state of an IROS node, comprising the following steps:

[0061] S101: Start the preset visualization tool and register the preset visualization tool to the server corresponding to the IROS node to be displayed.

[0062] In order to obtain and display node status information through a pre-set visualization tool, the embodiments of this specification first start the pre-set visualization tool and register the pre-set visualization tool with the intelligent robot operating system IROS server, that is, register it with the server corresponding to the IROS node that needs to be displayed.

[0063] Specifically, in one or more embodiments of this specification, registering the pre-built visualization tool to the server corresponding to the IROS node to be displayed includes the following steps:

[0064] First, the registration information of the node where the pre-built visualization tool resides is obtained. This registration information includes: identity identifier, subscription status, subscribed topics, and service information. Then, the registration information is uploaded to the server corresponding to the IROS node to be displayed via the pre-built visualization tool's registration interface. This allows the corresponding server to register the pre-built visualization tool as a node on the corresponding server, enabling it to subsequently access the status information of various nodes within the intelligent robot operating system.

[0065] S102: Read the IROS node list information of the corresponding server through the preset visualization tool; wherein, the IROS node list information includes: the name of each IROS node in the corresponding server.

[0066] After registering the pre-built visualization tool as a node to the corresponding server in step S101, the pre-built visualization tool can be used to read the IROS node list information on the corresponding server. It should be noted that the IROS node list information includes the names of each running IROS node on the server, as well as the topics, services, and Action services that each running IROS node has subscribed to and published. In other words, the server's IROS node list information contains information on all running IROS nodes.

[0067] Furthermore, since nodes are the basic unit of communication in the intelligent robot operating system, and nodes communicate with each other through messages, services, etc., and obtain corresponding parameters from the parameter server, in order for the server to grasp node information, in one or more embodiments of this specification, before reading the corresponding server's IROS node list information, the method further includes the following steps:

[0068] First, the registration information of each IROS node is obtained based on the corresponding server monitoring. Then, the registration information of the IROS nodes is summarized and written into a pre-set IROS node list template to generate IROS node list information and store it in the corresponding server. This allows the threshold visualization tool to obtain the information of each IROS node in the server based on this information.

[0069] S103: Control the preset visualization tool to obtain the node status display information of the IROS node to be displayed based on the name of the IROS node; wherein, the status display information includes communication status information and basic operating status information.

[0070] After obtaining the IROS node list information of the server based on the above step S102, in order to obtain node status display information, this embodiment of the specification controls a preset visualization tool to obtain node status display information corresponding to the name of each IROS node to be displayed. It should be noted that the status display information includes communication status information, such as the current related topics, services, and Action services for each node, and basic operating status information, such as process ID, memory and CPU usage.

[0071] Specifically, the preset visualization tool obtains the node status display information of the IROS node to be displayed based on the name of the IROS node, which includes the following steps:

[0072] First, based on the registration information of each IROS node in the IROS node list, the communication relationships of each IROS node are obtained. It should be noted that these communication relationships include the correspondence between topic subscriptions and topic publications, and the correspondence between clients and servers. Then, based on these communication relationships, the communication status information corresponding to the IROS node to be displayed is obtained from the IROS node list. This communication status information includes topics, services, and subscription / publication status. Next, the basic operational status information of the IROS node to be displayed is obtained through pre-configured system interfaces. This basic operational status information includes the memory and CPU utilization of the IROS node to be displayed, and the pre-configured system interfaces include a pre-configured Linux interface. Finally, the corresponding visualization tools are used to obtain...

[0073] S104: Input the node display information into the visualization framework of the preset visualization tool, so as to display the node status display information on the graphical interface based on the visualization framework.

[0074] After obtaining the node display information based on the above steps, in one or more embodiments of this specification, the information is input into the visualization framework of a pre-set visualization tool. This visualization framework, such as QT, then displays the node status information in a list format on a graphical user interface, allowing users to view and inspect the node status. This solves the problem of program developers and testers finding it difficult to quickly locate problematic nodes, thus improving the efficiency of test development.

[0075] Specifically, the node display information is input into the visualization framework of a pre-built visualization tool, and the node status display information is displayed on the graphical interface based on the visualization framework. This includes the following steps:

[0076] First, the visualization component corresponding to the preset graphical interface is obtained, and then the visualization framework of the preset visualization tool is determined based on the visualization component. Then, the node display information is input into the visualization framework, and based on the program scripts of each visualization component in the visualization framework, the node display information is matched to the corresponding position in the preset graphical interface, so that the node status display information is displayed in the graphical interface.

[0077] Furthermore, in order to make the node status information display more intuitive, in one or more embodiments of this specification, before obtaining the visualization component corresponding to the preset graphical interface, the method further includes the following steps:

[0078] First, the display area of ​​the preset graphical interface is determined. Then, based on the node status information of the IROS nodes to be displayed, the display area is functionally divided into display sub-areas. These sub-areas include: a node details display area, a node running status display area, a node basic information display area, and a refresh rate display area. Next, the corresponding display format is set according to the position and area information of each display sub-area. The display format includes: font, font size, and color. Finally, based on the position and area information of each display sub-area and the corresponding display format, the preset graphical interface is generated. (See below.) Figure 2 The diagram illustrates a graphical interface provided in an embodiment of this specification. As shown, the graphical interface comprises three parts: refresh frequency, node list, and node details. The refresh frequency is the frequency at which a specified preset visualization tool retrieves node and process statuses from the IROS server and system. Users can also click the refresh button to directly refresh the current interface. The node list displays the names of currently running nodes in the IROS system. Clicking on any node displays its relevant information in the node details interface on the right. The top of the details bar displays the running status of the process containing the node, including process ID, memory and CPU usage. The bottom displays the node's subscription and published topic list, service publication list, and Action service publication list.

[0079] Furthermore, in one or more embodiments of this specification, after inputting node display information into the visualization framework of a preset visualization tool to display the node status information in a graphical interface based on the visualization framework, the method further includes the following steps: First, recording the acquisition time of the node display information, thereby determining the refresh time based on the acquisition time and a preset refresh frequency. Then, controlling the preset visualization tool to update and acquire the node display information again according to the refresh time. Figure 3As shown, in addition to retrieving node information from the IROS server and system at the default refresh frequency using the pre-built visualization tool, users can also manually refresh the page by clicking the refresh button. This allows for clear and convenient querying of IROS node status information.

[0080] like Figure 4 As shown, this specification provides a schematic diagram of the internal structure of an IROS node status display device in one or more embodiments. Figure 4 As can be seen, in one or more embodiments of this specification, an IROS node status display device includes:

[0081] The registration unit is used to launch the preset visualization tool and register the preset visualization tool to the server corresponding to the IROS node to be displayed;

[0082] The reading unit is used to read the IROS node list information of the corresponding server through the preset visualization tool; wherein, the IROS node list information includes: the name of each IROS node in the corresponding server;

[0083] The acquisition unit is used to control the preset visualization tool to acquire the node status display information of the IROS node to be displayed based on the name of the IROS node; wherein, the status display information includes communication status information and basic operating status information;

[0084] The display unit is used to input the node display information into the visualization framework of the preset visualization tool, so as to display the node status display information on the graphical interface based on the visualization framework.

[0085] like Figure 5 As shown, this specification provides a schematic diagram of the internal structure of an IROS node status display device in one or more embodiments. Figure 5 As can be seen, in one or more embodiments of this specification, an IROS node status display device includes:

[0086] At least one processor; and,

[0087] A memory communicatively connected to the at least one processor; wherein,

[0088] The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to:

[0089] Activate the preset visualization tool and register the preset visualization tool with the server corresponding to the IROS node to be displayed;

[0090] The IROS node list information of the corresponding server is read using the preset visualization tool; wherein, the IROS node list information includes: the name of each IROS node in the corresponding server;

[0091] The preset visualization tool is controlled to obtain the node status display information of the IROS node to be displayed based on the name of the IROS node; wherein, the status display information includes communication status information and basic operating status information;

[0092] The node display information is input into the visualization framework of the preset visualization tool, so that the node status display information is displayed on the graphical interface based on the visualization framework.

[0093] like Figure 6 As shown, this specification provides a schematic diagram of the internal structure of a non-volatile storage medium in one or more embodiments. Figure 6 It is known that a non-volatile storage medium stores computer-executable instructions, which are capable of:

[0094] Activate the preset visualization tool and register the preset visualization tool with the server corresponding to the IROS node to be displayed;

[0095] The IROS node list information of the corresponding server is read using the preset visualization tool; wherein, the IROS node list information includes: the name of each IROS node in the corresponding server;

[0096] The preset visualization tool is controlled to obtain the node status display information of the IROS node to be displayed based on the name of the IROS node; wherein, the status display information includes communication status information and basic operating status information;

[0097] The node display information is input into the visualization framework of the preset visualization tool, so that the node status display information is displayed on the graphical interface based on the visualization framework.

[0098] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of apparatus, devices, and non-volatile computer storage media are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0099] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0100] The above description is merely one or more embodiments of this specification and is not intended to limit this specification. Various modifications and variations can be made to the one or more embodiments of this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of one or more embodiments of this specification should be included within the scope of the claims of this specification.

Claims

1. A method for displaying the status of an IROS node, characterized in that, The method includes: Activate the preset visualization tool and register the preset visualization tool with the server corresponding to the IROS node to be displayed; The IROS node list information of the corresponding server is read using the preset visualization tool; wherein, the IROS node list information includes: the name of each IROS node in the corresponding server; The preset visualization tool is controlled to obtain the node status display information of the IROS node to be displayed based on the name of the IROS node; wherein, the status display information includes communication status information and basic operating status information; The node status display information is input into the visualization framework of the preset visualization tool, so that the node status display information is displayed on the graphical interface based on the visualization framework; The preset visualization tool is controlled to obtain the node status display information of the IROS node to be displayed based on the name of the IROS node, specifically including: Based on the registration information of each IROS node in the IROS node list information, the communication relationship of each IROS node is obtained; wherein, the communication relationship includes: the correspondence between topic subscription and topic publication, and the correspondence between client and server; Based on the communication relationship, obtain the communication status information corresponding to the IROS node to be displayed in the IROS node list information; wherein, the communication status information includes: topic, service, subscription and publication status; The basic operating status information of the IROS node to be displayed is obtained according to the preset system interface; wherein, the basic operating status information includes: the memory of the IROS node to be displayed and the CPU utilization of the IROS node to be displayed; the preset system interface includes: a preset Linux interface. The node status display information is input into the visualization framework of the preset visualization tool, so that the node status display information is displayed on the graphical interface based on the visualization framework, specifically including: Obtain the visualization components corresponding to the preset graphical interface, and determine the visualization framework of the preset visualization tool based on the visualization components; The node status display information is input into the visualization framework, and based on the program scripts of each visualization component in the visualization framework, the node status display information is matched to the corresponding position of the preset graphical interface, so that the node status display information is displayed in the graphical interface. Before obtaining the visual components corresponding to the preset graphical interface, the method further includes: The display area of ​​the preset graphical interface is determined, and the display area is functionally divided based on the node status display information of the IROS node to be displayed to obtain display sub-areas; wherein, the display sub-areas include: node detailed information bar, node running status display bar, node basic information display bar, and refresh rate display bar. The corresponding display format is set based on the location and area information of each display sub-region; the display format includes: font, font size, and color; The preset graphical interface is generated by combining the location information, area information and corresponding display format of each display sub-region. After inputting the node status display information into the visualization framework of the preset visualization tool, and displaying the node status display information on the graphical interface based on the visualization framework, the method further includes: Record the acquisition time of the node status display information, and determine the refresh time based on the acquisition time and the preset refresh frequency; Control the preset visualization tool to update and obtain the node status display information based on the refresh time.

2. The method for displaying the status of an IROS node according to claim 1, characterized in that, Registering the pre-built visualization tool to the server corresponding to the IROS node to be displayed specifically includes: Obtain the registration information of the node where the preset visualization tool is located; wherein, the registration information includes: identity identifier, subscription status, subscribed topic, and service information; The registration information is uploaded to the server corresponding to the IROS node to be displayed through the registration interface of the pre-built visualization tool, so that the corresponding server registers the pre-built visualization tool based on the registration information.

3. The method for displaying the status of an IROS node according to claim 1, characterized in that, Before reading the IROS node list information of the corresponding server, the method further includes: The registration information of each IROS node is obtained based on the corresponding server monitoring. The registration information of the IROS nodes is summarized, and the registration information of each IROS node is written into a preset IROS node list template to generate the IROS node list information and store it in the corresponding server.

4. A device for displaying the status of an IROS node, characterized in that, The device includes: The registration unit is used to launch the preset visualization tool and register the preset visualization tool to the server corresponding to the IROS node to be displayed; The reading unit is used to read the IROS node list information of the corresponding server through the preset visualization tool; wherein, the IROS node list information includes: the name of each IROS node in the corresponding server; The acquisition unit is used to control the preset visualization tool to acquire the node status display information of the IROS node to be displayed based on the name of the IROS node; wherein, the status display information includes communication status information and basic operating status information; The display unit is used to input the node status display information into the visualization framework of the preset visualization tool, so as to display the node status display information on the graphical interface based on the visualization framework; The preset visualization tool is controlled to obtain the node status display information of the IROS node to be displayed based on the name of the IROS node, specifically including: Based on the registration information of each IROS node in the IROS node list information, the communication relationship of each IROS node is obtained; wherein, the communication relationship includes: the correspondence between topic subscription and topic publication, and the correspondence between client and server; Based on the communication relationship, obtain the communication status information corresponding to the IROS node to be displayed in the IROS node list information; wherein, the communication status information includes: topic, service, subscription and publication status; The basic operating status information of the IROS node to be displayed is obtained according to the preset system interface; wherein, the basic operating status information includes: the memory of the IROS node to be displayed and the CPU utilization of the IROS node to be displayed; the preset system interface includes: a preset Linux interface. The node status display information is input into the visualization framework of the preset visualization tool, so that the node status display information is displayed on the graphical interface based on the visualization framework, specifically including: Obtain the visualization components corresponding to the preset graphical interface, and determine the visualization framework of the preset visualization tool based on the visualization components; The node status display information is input into the visualization framework, and based on the program scripts of each visualization component in the visualization framework, the node status display information is matched to the corresponding position of the preset graphical interface, so that the node status display information is displayed in the graphical interface. Before obtaining the visual components corresponding to the preset graphical interface, the following is also included: The display area of ​​the preset graphical interface is determined, and the display area is functionally divided based on the node status display information of the IROS node to be displayed to obtain display sub-areas; wherein, the display sub-areas include: node detailed information bar, node running status display bar, node basic information display bar, and refresh rate display bar. The corresponding display format is set based on the location and area information of each display sub-region; the display format includes: font, font size, and color; The preset graphical interface is generated by combining the location information, area information and corresponding display format of each display sub-region. After inputting the node status display information into the visualization framework of the preset visualization tool, and displaying the node status display information on the graphical interface based on the visualization framework, the method further includes: Record the acquisition time of the node status display information, and determine the refresh time based on the acquisition time and the preset refresh frequency; Control the preset visualization tool to update and obtain the node status display information based on the refresh time.

5. A device for displaying the status of an IROS node, 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 executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to: Activate the preset visualization tool and register the preset visualization tool with the server corresponding to the IROS node to be displayed; The IROS node list information of the corresponding server is read using the preset visualization tool; wherein, the IROS node list information includes: the name of each IROS node in the corresponding server; The preset visualization tool is controlled to obtain the node status display information of the IROS node to be displayed based on the name of the IROS node; wherein, the status display information includes communication status information and basic operating status information; The node status display information is input into the visualization framework of the preset visualization tool, so that the node status display information is displayed on the graphical interface based on the visualization framework; The preset visualization tool is controlled to obtain the node status display information of the IROS node to be displayed based on the name of the IROS node, specifically including: Based on the registration information of each IROS node in the IROS node list information, the communication relationship of each IROS node is obtained; wherein, the communication relationship includes: the correspondence between topic subscription and topic publication, and the correspondence between client and server; Based on the communication relationship, obtain the communication status information corresponding to the IROS node to be displayed in the IROS node list information; wherein, the communication status information includes: topic, service, subscription and publication status; The basic operating status information of the IROS node to be displayed is obtained according to the preset system interface; wherein, the basic operating status information includes: the memory of the IROS node to be displayed and the CPU utilization of the IROS node to be displayed; the preset system interface includes: a preset Linux interface. The node status display information is input into the visualization framework of the preset visualization tool, so that the node status display information is displayed on the graphical interface based on the visualization framework, specifically including: Obtain the visualization components corresponding to the preset graphical interface, and determine the visualization framework of the preset visualization tool based on the visualization components; The node status display information is input into the visualization framework, and based on the program scripts of each visualization component in the visualization framework, the node status display information is matched to the corresponding position of the preset graphical interface, so that the node status display information is displayed in the graphical interface. Before obtaining the visual components corresponding to the preset graphical interface, the following is also included: The display area of ​​the preset graphical interface is determined, and the display area is functionally divided based on the node status display information of the IROS node to be displayed to obtain display sub-areas; wherein, the display sub-areas include: node detailed information bar, node running status display bar, node basic information display bar, and refresh rate display bar. The corresponding display format is set based on the location and area information of each display sub-region; the display format includes: font, font size, and color; The preset graphical interface is generated by combining the location information, area information and corresponding display format of each display sub-region. After inputting the node status display information into the visualization framework of the preset visualization tool, and displaying the node status display information on the graphical interface based on the visualization framework, the method further includes: Record the acquisition time of the node status display information, and determine the refresh time based on the acquisition time and the preset refresh frequency; Control the preset visualization tool to update and obtain the node status display information based on the refresh time.

6. A non-volatile storage medium storing computer-executable instructions, characterized in that, The computer-executable instructions are capable of: Activate the preset visualization tool and register the preset visualization tool with the server corresponding to the IROS node to be displayed; The IROS node list information of the corresponding server is read using the preset visualization tool; wherein, the IROS node list information includes: the name of each IROS node in the corresponding server; The preset visualization tool is controlled to obtain the node status display information of the IROS node to be displayed based on the name of the IROS node; wherein, the status display information includes communication status information and basic operating status information; The node status display information is input into the visualization framework of the preset visualization tool, so that the node status display information is displayed on the graphical interface based on the visualization framework; The preset visualization tool is controlled to obtain the node status display information of the IROS node to be displayed based on the name of the IROS node, specifically including: Based on the registration information of each IROS node in the IROS node list information, the communication relationship of each IROS node is obtained; wherein, the communication relationship includes: the correspondence between topic subscription and topic publication, and the correspondence between client and server; Based on the communication relationship, obtain the communication status information corresponding to the IROS node to be displayed in the IROS node list information; wherein, the communication status information includes: topic, service, subscription and publication status; The basic operating status information of the IROS node to be displayed is obtained according to the preset system interface; wherein, the basic operating status information includes: the memory of the IROS node to be displayed and the CPU utilization of the IROS node to be displayed; the preset system interface includes: a preset Linux interface. The node status display information is input into the visualization framework of the preset visualization tool, so that the node status display information is displayed on the graphical interface based on the visualization framework, specifically including: Obtain the visualization components corresponding to the preset graphical interface, and determine the visualization framework of the preset visualization tool based on the visualization components; The node status display information is input into the visualization framework, and based on the program scripts of each visualization component in the visualization framework, the node status display information is matched to the corresponding position of the preset graphical interface, so that the node status display information is displayed in the graphical interface. Before obtaining the visual components corresponding to the preset graphical interface, the following is also included: The display area of ​​the preset graphical interface is determined, and the display area is functionally divided based on the node status display information of the IROS node to be displayed to obtain display sub-areas; wherein, the display sub-areas include: node detailed information bar, node running status display bar, node basic information display bar, and refresh rate display bar. The corresponding display format is set based on the location and area information of each display sub-region; the display format includes: font, font size, and color; The preset graphical interface is generated by combining the location information, area information and corresponding display format of each display sub-region. After inputting the node status display information into the visualization framework of the preset visualization tool, and displaying the node status display information on the graphical interface based on the visualization framework, the method further includes: Record the acquisition time of the node status display information, and determine the refresh time based on the acquisition time and the preset refresh frequency; Control the preset visualization tool to update and obtain the node status display information based on the refresh time.

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