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A method and system for ros message publishing and subscription registration

A technology of message publishing and message subscription, which is applied in the direction of transmission system and electrical components, etc., can solve the problems of easy failure of message registration and subscription, reduce the transmission bandwidth of directional message registration and subscription, and achieve the effect of reducing network transmission

Active Publication Date: 2021-08-03
江苏飞图智能控制技术有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The problem to be solved by the present invention: In the case of poor network communication quality, message registration subscription is prone to failure, and the transmission bandwidth of directional message registration subscription is reduced

Method used

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  • A method and system for ros message publishing and subscription registration

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Embodiment Construction

[0021] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0022] This embodiment is a system for ROS message publishing and subscription registration. The system consists of node manager physical devices and non-manager node physical devices. When this system is applied to the aforementioned UAV networking system, the physical device of the non-manager node is usually a UAV, and the physical device of the node manager can be a UAV or a ground workstation. The node manager physical device and the non-manager node physical device have the ROS system installed. In this ROS system, at least one ROS node is configured on the physical device of the node manager and the physical device of the non-manager node, and one of the ROS nodes of the physical device of the node manager is configured as the ROS master, and the ROS master is also the node manager. ROS nodes are controlled by the node manager: when other ROS nodes n...

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Abstract

The invention discloses a method and a system for publishing and subscribing registration of ROS messages. In this method, when the ROS node sends a message registration or subscription request, it first consults the first configuration file stored locally. If the first message configuration file contains the message registration or subscription request, it returns directly to complete, otherwise it sends a message to the node manager. Send this message as a registration or subscription request. When the node manager initializes, the local agent consults the second configuration file stored locally, and the local agent sends a message registration or subscription request to the local node manager according to the message registration or subscription request contained in the second configuration file, thereby avoiding When the system initializes the registration message or subscription message, the registration message or subscription message fails due to network problems, and it also reduces the network transmission overhead during message registration and subscription.

Description

technical field [0001] The present invention relates to ROS message registration, publication and subscription. Background technique [0002] ROS, Robotic Operation System, is a software platform in the field of robotics. It is the de facto standard in the field of robotics and has been widely used in many robotic systems. ROS provides a publish-subscribe communication framework. Specifically, the ROS system consists of many nodes, one of which is the node manager. When one of the nodes needs to publish data to other nodes, the node first needs to request the node manager to register a message of a specific topic. After the node manager accepts the registration request, the node becomes the publisher of the topic message. When the node publishes the message of the topic, the message of the topic is sent to the ROS message pool. When other nodes get the message of the corresponding topic, they first need to request the node manager to subscribe to the message of the topic....

Claims

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Application Information

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IPC IPC(8): H04L29/08H04L29/06
CPCH04L65/1073H04L67/30H04L67/56H04L67/60
Inventor 钱利强
Owner 江苏飞图智能控制技术有限公司
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