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Method of adopting quality of transmission service in robot operating system

A technology of operating system and transmission service, applied in the direction of transmission system, digital transmission system, electrical components, etc., can solve the problems that cannot meet the real-time performance, reliability and dynamics of the robot system, and achieve real-time performance or reliability, increase real-time effect

Active Publication Date: 2017-02-22
NO 32 RES INST OF CHINA ELECTRONICS TECH GRP
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Problems solved by technology

However, the existing ROS communication framework is only based on TCP transmission between nodes, which cannot meet the real-time, reliability, and dynamic requirements of the robot system.

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  • Method of adopting quality of transmission service in robot operating system

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Embodiment Construction

[0041] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0042] The present invention inherits the data publishing / subscribing mode of the ROS distributed communication framework, and adds a transmission layer conforming to the data subscription distribution technology (DDS) standard in the lower layer of the ROS communication framework. On the one hand, the ROS communication framework is used to complete the registration of nodes, the generation of inter-node topology and the serialization of transmitted data, so that the existing software application modules...

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Abstract

The invention provides a method of adopting the quality of transmission service in a robot operating system. The method comprises a step 1 of performing node registration, a step 2 of generating a node connection topological relation; a step 3 of generating a sent data packet; a step 4 of performing communication capability negotiation; a step 5 of configuring a QoS (quality of service) strategy; and a step 6 of carrying out QoS matching and data transmission. The invention adds a transport layer mechanism to guarantee the quality of service in the communication framework, and the data issuer and the subscriber can dynamically change the QoS strategy according to the needs of both parties; when the robot node supports the transmission mechanism of QoS, the real-time, reliability and other QoS guarantees can be increased in transmission as needed; and the current ROS node software application module is supported, and the existing software application module can be used on the communication framework without modification.

Description

technical field [0001] The present invention relates to robots and, in particular, to methods for using transport quality of service in robot operating systems. Background technique [0002] With the development of science and technology, robots have entered our lives. They can not only accept human commands, but also run pre-programmed programs to assist or replace human work. With the deepening of the hierarchical requirements of the robot's functions, the expansion of the computing platform, and the increasingly complex hardware used, the work of writing software for the robot has become more and more complicated and arduous. In order to simplify the programming work, many robot software development platforms have emerged. According to the idea of ​​"platformization", the concept of operating system software is introduced in the field of robots, which promotes the standardization of robot hardware and modularization of software, and becomes a catalyst for the rapid devel...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04L12/24
CPCH04L41/12H04L41/5019
Inventor 邓畅左龙刘荣宽
Owner NO 32 RES INST OF CHINA ELECTRONICS TECH GRP
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