CN107678746A - A kind of pattern development platform based on ROS - Google Patents
A kind of pattern development platform based on ROS Download PDFInfo
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- CN107678746A CN107678746A CN201710913903.2A CN201710913903A CN107678746A CN 107678746 A CN107678746 A CN 107678746A CN 201710913903 A CN201710913903 A CN 201710913903A CN 107678746 A CN107678746 A CN 107678746A
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- G06F8/38—Creation or generation of source code for implementing user interfaces
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Abstract
A kind of pattern development platform based on ROS,Under Windows operating system environment,Developed and completed based on .NET3.5,And database management module,Graphic programming module,Collector is presented in man-machine interaction development interface with graph area,Menu bar area is provided with man-machine interaction development interface,Part reservoir area,Graphic programming area,Information feedback area and code viewing area,After user completes graphic programming structure,Pass through socket communication mechanism,By all file remote downloads into control computer,The control computer installs Ubuntu systems and ROS robot operating systems,Characteristic encapsulation of the file of download based on intelligent robot is compiled into graphical control by control computer,Graphical control is being returned to by pattern development platform by socket communication mechanism,User only needs to change interface parameters according to the characteristics of robot,Effectively reduce the programming difficulty of user,Improve programming efficiency.
Description
Technical field
The present invention relates to robotic programming technical field, more particularly to a kind of pattern development platform based on ROS.
Background technology
Robot control system core is computer, and the life cycle of development machines people's control software is in whole machine
Very big ratio is occupied in people's R＆D process, an intelligent robot system is typically to be made up of four parts：Mechanical system, perception
System, planning system, execution system, mechanical system are built by hardware modules such as chassis, wheel, motors；Sensory perceptual system
It is made up of sensor assembly, such as laser sensor, infrared sensor；Planning system and execution system belong to the control of robot
System processed, the robot algorithm being related in control system is again comprising obstacle avoidance algorithm, line walking algorithm etc.；For robot beginner
Speech, the development difficulty of control system is bigger than normal, and developer's needs are started with from hardware could be to the control software on upper strata, with machine
The fast development and complication in people field, the durability of code and modular demand are more and more stronger.
At present on the market only for the emulation platform of mobile robot, development platform does not almost have, while machine of increasing income
People's operating system ROS（robot operating system）It is burning hoter robot development's environment on the market at present, but
It is that the system is based on the software running platform on Ubuntu operating systems, while running software needs ROS associated documents
Support, be unfavorable for user's introduction.
The content of the invention
Technical problem solved by the invention is to provide a kind of pattern development platform based on ROS, above-mentioned to solve
The shortcomings that in background technology.
Technical problem solved by the invention is realized using following technical scheme：
A kind of pattern development platform based on ROS, under Windows operating system environment, developed and completed based on .NET3.5,
Including database management module, graphic programming module, collector, and database management module, graphic programming module, collector exist
Presented in man-machine interaction development interface with graph area, menu bar area, part reservoir area, figure are provided with man-machine interaction development interface
Change programming area, information feedback area and code viewing area；
Menu bar area
Menu bar includes file, platform operations, graphic programming, library management, sample storehouse and help, file include grassroot project,
Opening project, preservation project, save as, item file is preserved in the form of xml；
Part reservoir area
Database management module includes part library and algorithms library, and part library includes controller storehouse, driver storehouse, sensor bank, man-machine friendship
Mutual storehouse, other storehouses, user library, multiple subassemblies are provided below in each library file, and are compiled on the subassembly of each library file
Collecting has the sound code file write based on ROS forms；
Algorithms library includes obstacle avoidance algorithm storehouse, line walking algorithms library, following algorithm storehouse, other algorithms libraries, user's algorithms library, each algorithm
Lab setting has multiple subalgorithms, and each subalgorithm editor has the sound code file write based on ROS forms；
User increases required storehouse sound code file and algorithm sound code file by user library；
Graphic programming area
For realizing graphic programming functions of modules, by being selected part in part library, pulling, line, set a property
After completing graphic programming preparation work, the follow-up work of graphic programming is further completed, follow-up work includes program
Download, remote compilation；
In line, docking port type is identical can be just interconnected, and the identical GPIO mouths for referring to module of interface type can only connect pair
The GPIO mouths of side, USB port can only connect to other side's USB port；
In selection robot algorithm, programming is patterned；
Code viewing area
Source code corresponding to the module in graphic programming area is drawn to for showing, if user needs the basic ginseng of modified module
Number, the parameter that Auto-matching user is changed in code viewing area, without user's manual modification code；
Information feedback area
After user completes graphic programming structure, by socket communication mechanism, by all file remote downloads to controlling meter
In calculation machine, control computer can be embedded computer or general-purpose computing system, control computer installation Ubuntu systems
System and ROS robot operating systems, characteristic encapsulation of the file of download based on intelligent robot is compiled into graphical control,
Graphical control is returned to by pattern development platform by socket communication mechanism, information feedback area is used to receive display compiling
Information.
Beneficial effect：
1）Code wrap is supplied to by the present invention according to the existing feature combination ROS advantages of intelligent robot into graphical control form
User, user only need to change interface parameters according to the characteristics of robot, effectively reduce the programming difficulty of user, improve programming effect
Rate；
2）The present invention realizes cross compile in windows operating systems, and can download in control computer, simple operation；
3）The present invention has abundant case source code based on ROS robot operating systems of increasing income, and is easy to user's subsequent expansion and renewal.
Brief description of the drawings
Fig. 1 is the man-machine interaction development interface schematic diagram in presently preferred embodiments of the present invention.
Fig. 2 is the part library schematic diagram in presently preferred embodiments of the present invention.
Fig. 3 is the algorithms library schematic diagram in presently preferred embodiments of the present invention.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are readily apparent from clearly, tying below
Conjunction is specifically illustrating, and the present invention is expanded on further.
A kind of pattern development platform based on ROS shown in Figure 1, under Windows operating system environment, is based on
.NET3.5 exploitation is completed, including database management module, graphic programming module, collector, and database management module, graphical volume
Journey module, collector are presented in man-machine interaction development interface with patterned sections, and dish is provided with man-machine interaction development interface
Dan Lan areas, part reservoir area, graphic programming area, information feedback area and code viewing area；
Menu bar area
Menu bar includes file, platform operations, graphic programming, library management, sample storehouse and help, file include grassroot project,
Opening project, preservation project, save as, item file is preserved in the form of xml；Library management is to be used for concrete management part
Storehouse, sample storehouse are the cases that this development platform is user's preparation, and beginner can first imitate, then study in depth；Help menu column
For linking the forum of this development platform, forum has a series of study courses in detail to download study for user；
Part reservoir area
Database management module includes part library and algorithms library, and part library shown in Figure 2 is divided into 6 bulks：Controller storehouse, driver
Multiple subassemblies, such as sensor are provided below in storehouse, sensor bank, man-machine interaction storehouse, other storehouses, user library, each library file
Storehouse includes ultrasonic sensor, infrared sensor, laser sensor, and editor has what is write based on ROS forms on each sensor
Sound code file；
Algorithms library shown in Figure 3 is divided into 5 bulks：Obstacle avoidance algorithm storehouse, line walking algorithms library, following algorithm storehouse, other algorithms libraries, use
Family algorithms library, equally, each algorithms library contain multiple subalgorithms, and each subalgorithm editor has the source code text write based on ROS forms
Part；
User can increase required storehouse sound code file and algorithm sound code file in user library；
Graphic programming area
For realizing graphic programming functions of modules, by being selected part in part library, pulling, line, set a property
After series of processes completes graphic programming preparation work, the follow-up work of graphic programming, follow-up work are further completed
Including download program, remote compilation；
In line, docking port type is identical can be just interconnected, and the identical GPIO mouths for referring to module of interface type can only connect pair
The GPIO mouths of side, USB port can only connect to other side's USB port；
Robot algorithm is finally selected, is patterned programming；
Code viewing area
Source code corresponding to the module in graphic programming area is drawn to for showing, if user needs the basic ginseng of modified module
Number, the parameter that Auto-matching user is changed in code viewing area, without user's manual modification code；
Information feedback area
After user completes graphic programming structure, by socket communication mechanism, by all file remote downloads to controlling meter
In calculation machine, control computer can be embedded computer or general-purpose computing system, control computer installation Ubuntu systems
System and ROS robot operating systems, characteristic of the file of download based on intelligent robot is classified to graphical control（Control
Device processed, sensor, man-machine interaction, other, user increases newly）, and robot source code is packaged and is compiled into an executable text
Part, pattern development platform is given information back will be compiled by socket communication mechanism, information feedback area, which is used to receive, to be shown
The information of compiling.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (3)
1. a kind of pattern development platform based on ROS, it is characterised in that under Windows operating system environment, be based on
.NET3.5 exploitation is completed, including database management module, graphic programming module, collector, and database management module, graphical volume
Journey module, collector are presented in man-machine interaction development interface with graph area, and menu is provided with man-machine interaction development interface
Column area, part reservoir area, graphic programming area, information feedback area and code viewing area；
Menu bar area
Menu bar includes file, platform operations, graphic programming, library management, sample storehouse and help, file include grassroot project,
Opening project, preservation project, save as, item file is preserved in the form of xml；
Part reservoir area
Database management module includes part library and algorithms library, and part library includes controller storehouse, driver storehouse, sensor bank, man-machine friendship
Mutual storehouse, other storehouses, user library, multiple subassemblies are provided below in each library file, and are compiled on the subassembly of each library file
Collecting has the sound code file write based on ROS forms；
Algorithms library includes obstacle avoidance algorithm storehouse, line walking algorithms library, following algorithm storehouse, other algorithms libraries, user's algorithms library, each algorithm
Lab setting has multiple subalgorithms, and each subalgorithm editor has the sound code file write based on ROS forms；
Graphic programming area
For realizing graphic programming functions of modules, by being selected part in part library, pulling, line, set a property
After completing graphic programming preparation work, the follow-up work of graphic programming is further completed, follow-up work includes program
Download, remote compilation；
In selection robot algorithm, programming is patterned；
Code viewing area
Source code corresponding to the module in graphic programming area is drawn to for showing, if user needs the basic ginseng of modified module
Number, the parameter that Auto-matching user is changed in code viewing area, without user's manual modification code；
Information feedback area
After user completes graphic programming structure, by socket communication mechanism, by all file remote downloads to controlling meter
In calculation machine, control computer installation Ubuntu systems and ROS robot operating systems, control computer is by the file of download
Characteristic encapsulation based on intelligent robot is compiled into graphical control, and graphical control is being returned into figure by socket communication mechanism
Shape development platform, information feedback area are used for the information for receiving display compiling.
2. a kind of pattern development platform based on ROS according to claim 1, it is characterised in that user passes through user
Storehouse sound code file and algorithm sound code file needed for the increase of storehouse.
A kind of 3. pattern development platform based on ROS according to claim 1, it is characterised in that in line, docking
Mouth type identical module interface is interconnected.
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| CN201710913903.2A CN107678746A (en) | 2017-09-30 | 2017-09-30 | A kind of pattern development platform based on ROS |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109635932A (en) * | 2018-12-16 | 2019-04-16 | 北京工业大学 | A kind of Graphic Design and implementation method of part connection multilayer perceptron |
| CN110333869A (en) * | 2019-06-26 | 2019-10-15 | 深圳玩智商科技有限公司 | ROS robot debugging apparatus, method, computer equipment and program product |
| CN110497412A (en) * | 2019-08-26 | 2019-11-26 | 中科新松有限公司 | Robot graphic programming interactive system based on webpage and mobile terminal |
| CN110543144A (en) * | 2019-08-30 | 2019-12-06 | 天津施格自动化科技有限公司 | method and system for graphically programming control robot |
| CN110941426A (en) * | 2019-12-02 | 2020-03-31 | 苏州金蒲芦物联网技术有限公司 | NB-IoT terminal-oriented graphical programming system |
| CN111045667A (en) * | 2019-12-06 | 2020-04-21 | 中国科学院自动化研究所 | Graphical programming system based on Lua script |
| CN111159965A (en) * | 2019-12-30 | 2020-05-15 | 广州思林杰网络科技有限公司 | Xilinx FPGA design system, implementation method and storage medium |
| CN111464422A (en) * | 2020-03-27 | 2020-07-28 | 北京海益同展信息科技有限公司 | Interaction method, interaction device, electronic equipment and storage medium |
| CN111708530A (en) * | 2020-06-24 | 2020-09-25 | 武汉久同智能科技有限公司 | Industrial robot graphical programming system |
| CN113535156A (en) * | 2021-08-04 | 2021-10-22 | 中国计量大学 | Graphical programming method and platform of logistics transportation control system |
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| CN105467858A (en) * | 2015-12-01 | 2016-04-06 | 西安电子科技大学 | Graphical integrated development environment for control program of robot |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109635932A (en) * | 2018-12-16 | 2019-04-16 | 北京工业大学 | A kind of Graphic Design and implementation method of part connection multilayer perceptron |
| CN110333869A (en) * | 2019-06-26 | 2019-10-15 | 深圳玩智商科技有限公司 | ROS robot debugging apparatus, method, computer equipment and program product |
| CN110497412A (en) * | 2019-08-26 | 2019-11-26 | 中科新松有限公司 | Robot graphic programming interactive system based on webpage and mobile terminal |
| CN110543144B (en) * | 2019-08-30 | 2021-06-01 | 天津施格自动化科技有限公司 | Method and system for graphically programming control robot |
| CN110543144A (en) * | 2019-08-30 | 2019-12-06 | 天津施格自动化科技有限公司 | method and system for graphically programming control robot |
| CN110941426A (en) * | 2019-12-02 | 2020-03-31 | 苏州金蒲芦物联网技术有限公司 | NB-IoT terminal-oriented graphical programming system |
| CN110941426B (en) * | 2019-12-02 | 2023-09-19 | 苏州金蒲芦物联网技术有限公司 | Graphic programming system for NB-IoT terminal |
| CN111045667A (en) * | 2019-12-06 | 2020-04-21 | 中国科学院自动化研究所 | Graphical programming system based on Lua script |
| CN111045667B (en) * | 2019-12-06 | 2022-01-25 | 中国科学院自动化研究所 | Graphical programming system based on Lua script |
| CN111159965A (en) * | 2019-12-30 | 2020-05-15 | 广州思林杰网络科技有限公司 | Xilinx FPGA design system, implementation method and storage medium |
| CN111464422A (en) * | 2020-03-27 | 2020-07-28 | 北京海益同展信息科技有限公司 | Interaction method, interaction device, electronic equipment and storage medium |
| CN111708530A (en) * | 2020-06-24 | 2020-09-25 | 武汉久同智能科技有限公司 | Industrial robot graphical programming system |
| CN113535156A (en) * | 2021-08-04 | 2021-10-22 | 中国计量大学 | Graphical programming method and platform of logistics transportation control system |
| CN113535156B (en) * | 2021-08-04 | 2023-08-22 | 中国计量大学 | Graphical programming method and platform of logistics transportation control system |
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Application publication date: 20180209 |