CN109548056B - Communication method and system based on ROS master-slave node manager - Google Patents
Communication method and system based on ROS master-slave node manager Download PDFInfo
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Abstract
The invention discloses a communication method and a communication system based on an ROS master-slave node manager. The system sets the slave node managers in the equipment where each node in the ROS system is located, under the normal working state of the ROS system, each slave node manager enables each slave node manager to be configured with the registration information consistent with the master node manager in a synchronous mode, when the master node manager is disconnected, equipment connected with each network interactively protocols one slave node manager as the node manager of the equipment losing the master node manager, and therefore when the master node manager is disconnected, the interconnected equipment can still normally work through the new node manager.
Description
Technical Field
The present invention relates to ROS systems.
Background
The ROS, a Robotic Operation System, is a software platform in the robot field, is a de facto standard in the current robot field, and has been widely applied to a plurality of robot systems. The ROS provides a subscription-to-subscription communication framework. In particular, the ROS system is composed of many nodes, one of which is a node manager. When one of the nodes needs to subscribe data to other nodes, the node first needs to request a node manager to subscribe and register a message of a specific topic, and after the node manager receives the subscription and registration request, the node becomes a subscriber of the topic message. When the node subscribes to the message of the topic, the message of the topic is sent into the ROS message pool. When other nodes acquire the message of the corresponding topic, first, the other nodes need to request the node manager for subscribing the message of the topic. The nodes subscribing to the topic message can thus obtain the topic message from the ROS message pool. The subscription-subscription type communication framework separates a data producer from a data consumer, brings great flexibility to users, and is widely applied.
With the wider application of the robot, the ROS is also expanding to a larger range, and many nodes adopting the ROS start to communicate with other nodes through wireless communication, such as an unmanned aerial vehicle networking scene. In the application of the networking scene of the unmanned aerial vehicle, each unmanned aerial vehicle is equivalently configured with a plurality of ROS nodes. Because wireless communication's channel quality varies greatly along with transmission distance, interference, the condition of sheltering from between the unmanned aerial vehicle, communication quality is than poor. Unmanned aerial vehicle breaks off network connection with other unmanned aerial vehicles easily. This means that the configured ROS nodes in drones disconnected from other networks do not work properly. Especially, when the unmanned aerial vehicle that node manager belonged to breaks off network connection with other each unmanned aerial vehicle, all ROS nodes of other each unmanned aerial vehicle can't work.
Disclosure of Invention
The problems to be solved by the invention are as follows: the ROS system is applied to the networking scene of the unmanned aerial vehicle, and the robustness of the system is improved.
In order to solve the problems, the invention adopts the following scheme:
the invention discloses a communication method based on an ROS master-slave node manager, which comprises an information synchronization step, a network state monitoring step and a communication scheduling step;
the information synchronization step: the slave equipment interacts with other equipment in the same ROS system, so that the registration information in each slave node manager in the same ROS system is consistent with the registration information in the master node manager;
the network state monitoring step: the slave device detects the network connection state of each device in the same ROS system;
the communication scheduling step: when the slave device detects that the network connection with the master device is disconnected, configuring a node manager address pointed by an ROS node in the slave device as a secondary node manager, so that the ROS node in the slave device interacts with the secondary node manager;
the slave device is a device where a slave node manager is located; the master device is a device where a master node manager is located; the auxiliary node manager serves as a slave node manager of the master node manager after the network connection of the master node manager is disconnected; the main node manager is a node manager in a normal working state of the ROS system; the slave node manager is not used as a node manager in the normal working state of the ROS system, but can be used as an independent node manager after the network is disconnected.
Further, according to the communication method based on the ROS master-slave node manager of the present invention, the communication scheduling step further comprises a slave node manager protocol step of: when the slave device detects a network disconnection with the master device, the slave device agrees with other slave devices which are reachable by communication in the same ROS system to form a slave node manager as a slave node manager, so that the slave device and other slave devices which are reachable by communication in the same ROS system configure the node manager address pointed by their respective ROS nodes as the slave node manager.
Further, the communication method based on the ROS master-slave node manager also comprises a priority configuration step;
the priority configuration step: when the ROS node of the slave equipment is added into the master node manager, the master equipment sequentially sets the priority of each slave equipment according to the adding sequence of the ROS node;
the information synchronization step further comprises: the slave equipment interacts with other equipment in the same ROS system to acquire the priority of each slave equipment in the same ROS system;
in the slave node manager protocol step, after the slave device detects that the network connection with the master device is disconnected, the slave device selects a slave node manager with the highest priority of the slave device from the slave devices which can communicate with the slave device as a slave node manager according to the priority of each slave device.
Further, according to the communication method based on the ROS master-slave node manager, in the communication scheduling step, the local slave node manager is used as the slave node manager.
The invention relates to a communication system based on an ROS master-slave node manager, which comprises a master device and a slave device; the master device is provided with a master node manager; the slave equipment is provided with a slave node manager, a slave synchronization module, a network state monitoring module and a communication scheduling module;
the main node manager is a node manager in a normal working state of the ROS system;
the slave node manager is not used as a node manager in the normal working state of the ROS system, but can be used as an independent node manager after the network is disconnected;
the slave synchronization module is used for the slave equipment to interact with other equipment in the same ROS system, so that the registration information in each slave node manager in the same ROS system is consistent with the registration information in the master node manager;
the network state monitoring module is used for detecting the network connection state of each device in the same ROS system from the device;
the communication scheduling module is used for configuring the address of the node manager pointed by the ROS node in the slave device into a secondary node manager after the slave device detects that the network connection with the master device is disconnected, so that the ROS node in the slave device interacts with the secondary node manager;
and the auxiliary node manager serves as a slave node manager of the master node manager after the network connection of the master node manager is disconnected.
Further, according to the communication system based on the ROS master-slave node manager of the present invention, the communication scheduling module further comprises a slave node manager protocol module; the slave node manager protocol module is used for protocol-sending out a slave node manager as a slave node manager from the slave device and other slave devices which can communicate with the slave device in the same ROS system after the slave device detects that the network connection with the master device is disconnected, so that the slave device and other slave devices which can communicate with the slave device in the same ROS system configure the node manager address pointed by each ROS node as the slave node manager.
Further, according to the communication system based on the ROS master-slave node manager of the present invention, the master device is further configured with a priority configuration module;
the priority configuration module is configured to: when the ROS node of the slave equipment is added into the master node manager, the master equipment sequentially sets the priority of each slave equipment according to the adding sequence of the ROS node;
the slave synchronization module is further configured to: the slave equipment interacts with other equipment in the same ROS system to acquire the priority of each slave equipment in the same ROS system;
in the slave node manager protocol module, after the slave device detects that the network connection with the master device is disconnected, the slave device selects the slave node manager with the highest priority of the slave device from the slave devices which can communicate with the slave device as the slave node manager according to the priority of each slave device.
Further, the communication system based on the ROS master-slave node manager is characterized in that the communication scheduling module uses a local slave node manager as a slave node manager.
The invention has the following technical effects: according to the invention, each device is configured with the slave node manager, when the master node manager network is disconnected, the device interaction protocol connected with each network is used as the node manager of the device losing the master node manager, so that the interconnected devices can still normally work through the new node manager when the master node manager network is disconnected.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Wherein 11 is an ROS node, 21 is a master node manager, 22 is a priority configuration module, 23 is a master synchronization module, 31 is a slave node manager, 32 is a network status monitoring module, 33 is a slave synchronization module, and 34 is a communication scheduling module.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
A communication system based on an ROS master-slave node manager is an expanded ROS system, which is called as an ROS system in the specification, and comprises a plurality of slave devices and master devices as shown in figure 1. In the example of fig. 1, there are three slave devices, namely, slave device a, slave device B, and slave device C. The master and each slave is configured with several ROS nodes 11. The master device is further configured with a master node manager 21, a priority configuration module 22 and a master synchronization module 23. The slave device is further configured with a slave node manager 31, a network status monitoring module 32, a slave synchronization module 33 and a communication scheduling module 34. That is, the slave device is the device where the slave node manager is located; the master device is the device where the master node manager is located.
The master node manager 21 is a node manager in a normal operating state in the ROS system. When the ROS system is operating normally, the ROS node 11 performs message publishing registration, message subscription registration, and service registration to the master node manager 21, and publishes a message and invokes a service through the master node manager 21. The slave node manager 21 is not used as a node manager in the normal working state of the ROS system, but can be used as an independent node manager after the network is disconnected. Specifically, for example, in fig. 1, in case that the slave a becomes an isolated device in the event that the slave a is disconnected from the network with other devices, the ROS node 11 on the slave a is disconnected from the node manager and thus cannot operate normally. At this time, the slave node manager 31 on the slave device a is started through the configuration of the communication scheduling module 34, so that the ROS node 11 on the slave device a communicates with the node manager, so that the ROS node 11 can operate normally.
And the slave synchronization module is used for the slave devices to interact with other devices in the ROS system, so that the registration information in each slave node manager in the ROS system is consistent with the registration information in the master node manager, and the priority of each slave device in the ROS system is obtained. The slave synchronization module comprises two parts: registration information synchronization and priority synchronization.
The registration information in the node manager includes message publishing registration, message subscribing registration, and service registration. Specifically, when the local slave node manager is started as the node manager of each ROS node 11 on the slave device a after the network of the slave device a is disconnected, each ROS node 11 issues a message to the slave node manager, or registers in advance when subscribing a message from the slave node manager, but each ROS node 11 previously uses the master node manager in the master device as the node manager, so each ROS node 11 initiates a message publishing registration and a message subscribing registration to the master node manager 21 in the master device, and the master node manager 21 stores these pieces of registration information. These registrations are needed to publish or subscribe messages with the ROS node after the slave node manager on slave a starts. For this reason, it is necessary to synchronize the registration information in the master node manager 21 to the slave node manager 31 before the network disconnection. The process of synchronizing the registration information in the master node manager 21 to the slave node manager 31 before the network is disconnected is the aforementioned synchronization of the registration information.
There are generally two ways of synchronizing registration information: the first is that each slave device synchronizes directly with the master device; the second is that each slave device synchronizes with the other devices. The other device may be a master device or other slave devices as long as network communication is possible. In the second registration information synchronization method, specifically in the example of fig. 1, the slave device a may synchronize with the slave device B, may synchronize with the device C, and may synchronize with the master device. In consideration of the complexity of the second registration information synchronization method, the first method is preferably adopted in the present embodiment. In the first registration information synchronization method, specifically in the example of fig. 1, the slave device a, the slave device B, and the slave device C synchronize only with the master device, and the slave device a, the slave device B, and the slave device C do not synchronize with each other. The specific method for synchronizing the registration information in this embodiment is as follows: first, at slave initialization, i.e. when the ROS node on the slave joins the master node manager, the slave pulls all the registration information on the master node manager from the master at once. Then, when the registration information on the master node manager changes, the master synchronization module 23 in the master device transmits the change information of the registration information to the slave device. That is, the master synchronization module 23 is configured to respond to all the operations of the slave synchronization module 33 for registering information and to push the change information of the registered information to the slave synchronization module 33.
The present embodiment is provided with a priority for each slave node manager. Since there is a one-to-one correspondence between the slave node manager and the slave device, the priority of the slave node manager is the priority of the slave device. The priority is used for enabling each slave device to select the slave node manager with the highest priority from the slave node managers to serve as the slave node manager according to the priority when the master device network is disconnected. In the invention, the auxiliary node manager serves as a slave node manager of the main node manager after the network connection of the main node manager is disconnected. In the example of fig. 1, when the master device is disconnected from the slave devices a, B, and C, and the networks of the slave devices a, B, and C are still connected, it is necessary to select one slave node manager from the slave node managers of the slave devices a, B, and C as the slave node manager. For this reason, the slave a, the slave B, and the slave C need to hold a list of the respective slave node managers, priorities, and addresses of the respective slave node managers. In this embodiment, the priority synchronization is similar to the aforementioned registration information synchronization process, and this description is not repeated.
The network status monitoring module 32 is used for detecting the network connection status of each device in the ROS system. Thus, the communication scheduling module 34 can configure the corresponding slave node manager as the slave node manager according to the network connection state of each device. The communication scheduling module 34 is configured to configure the node manager address pointed by the ROS node in the slave device as a secondary node manager after the slave device detects the network disconnection with the master device through the network status monitoring module 32, so that the ROS node in the slave device interacts with the secondary node manager. Taking the example of fig. 1 as an example, when the master device disconnects the network from the slave device a, the slave device B, and the slave device C, and the network between the slave device a, the slave device B, and the slave device C is still connected, a secondary node manager needs to be agreed among the slave device a, the slave device B, and the slave device C. A secondary node manager process is agreed, namely the protocol steps of the secondary node manager are as follows: when the slave device detects that the network connection with the master device is disconnected, the slave device and other slave devices which can communicate with the slave device in the ROS system protocol out a slave node manager as a slave node manager. The secondary node manager is derived from the node manager protocol, after which the communication schedule module 34 configures the node manager address pointed to by the ROS node in the slave device as the secondary node manager. There are many specific implementation manners of the slave node manager protocol, and this embodiment adopts a priority manner of the slave node manager, that is, after the slave device detects that the network connection with the master device is disconnected, the slave device selects, as the slave node manager, the slave node manager having the highest priority of the slave device from the slave devices that can communicate with the slave device according to the priorities of the slave devices.
The priority of the slave node manager, i.e. the priority of the slave device, is configured by a priority configuration module 22 in the master device. The priority configuration may most simply be in a fixed manner, i.e. one priority configuration file is edited for each slave node manager in the master device by means of manual editing. In this embodiment, the priority configuration module 22 sets the priorities in sequence according to the sequence of the slave devices joining the master device, that is, when the ROS node of the slave device joins the master node manager, the master device sets the priorities of the slave devices in sequence according to the ROS node joining sequence.
The working principle of the embodiment is as follows: during initialization, the slave devices are added into the master device one by one to form an ROS system. The master device configures the priority for the slave node manager on each slave device through the priority configuration module. And after the ROS node on the slave equipment is added into the master node manager, message publishing registration, message subscribing registration and service registration are carried out. These registration information and the priority information of the slave node managers are synchronized to the respective slave devices of the ROS system by means of registration information synchronization and priority synchronization, whereby the respective slave node managers of the slave devices contain these registration information. When the network is disconnected, the slave equipment network state monitoring module detects that the master equipment is disconnected, therefore, a communication scheduling step is started, and a slave node manager is selected to serve as a node manager, so that the normal work of the ROS node is maintained.
As one simplification of the above embodiment: the communication scheduling module may use a local slave node manager as a slave node manager, that is, after the slave device detects the disconnection of the network connection with the master device through the network status monitoring module, the node manager address pointed by the ROS node in the slave device is configured as a local slave node manager, so that the ROS node in the slave device interacts with the local slave node manager. The disadvantage of this approach is that when the master device disconnects the network from each slave device, each slave device uses its own local slave node manager as the node manager, and at this time, no message interaction can be implemented between the slave devices.
Claims (6)
1. A communication method based on ROS master slave node manager is characterized in that the method comprises an information synchronization step, a network state monitoring step and a communication scheduling step;
the information synchronization step: the slave equipment interacts with other equipment in the same ROS system, so that the registration information in each slave node manager in the same ROS system is consistent with the registration information in the master node manager;
the network state monitoring step: the slave device detects the network connection state of each device in the same ROS system;
the communication scheduling step: when the slave device detects that the network connection with the master device is disconnected, configuring a node manager address pointed by an ROS node in the slave device as a secondary node manager, so that the ROS node in the slave device interacts with the secondary node manager;
the slave device is a device where a slave node manager is located; the master device is a device where a master node manager is located; the auxiliary node manager serves as a slave node manager of the master node manager after the network connection of the master node manager is disconnected; the main node manager is a node manager in a normal working state of the ROS system; the slave node manager is not used as a node manager in the normal working state of the ROS system, but can be used as an independent node manager after the network is disconnected;
the node manager is used for providing message publishing, message subscribing and service calling for each ROS node in the ROS system; the registration information of the node manager comprises message publishing registration, message subscribing registration and service registration;
the communication scheduling step further comprises the slave node manager protocol step of: when the slave device detects a network disconnection with the master device, the slave device agrees with other slave devices which are reachable by communication in the same ROS system to form a slave node manager as a slave node manager, so that the slave device and other slave devices which are reachable by communication in the same ROS system configure the node manager address pointed by their respective ROS nodes as the slave node manager.
2. The ROS master slave node manager-based communication method of claim 1, further comprising a priority configuration step;
the priority configuration step: when the ROS node of the slave equipment is added into the master node manager, the master equipment sequentially sets the priority of each slave equipment according to the adding sequence of the ROS node;
the information synchronization step further comprises: the slave equipment interacts with other equipment in the same ROS system to acquire the priority of each slave equipment in the same ROS system;
in the slave node manager protocol step, after the slave device detects that the network connection with the master device is disconnected, the slave device selects a slave node manager with the highest priority of the slave device from the slave devices which can communicate with the slave device as a slave node manager according to the priority of each slave device.
3. The ROS master-slave node manager-based communication method of claim 1, wherein in the communication scheduling step, a local slave node manager is used as a slave node manager.
4. A communication system based on an ROS master-slave node manager, characterized in that the system comprises a master device and a slave device; the master device is provided with a master node manager; the slave equipment is provided with a slave node manager, a slave synchronization module, a network state monitoring module and a communication scheduling module;
the main node manager is a node manager in a normal working state of the ROS system;
the slave node manager is not used as a node manager in the normal working state of the ROS system, but can be used as an independent node manager after the network is disconnected;
the slave synchronization module is used for the slave equipment to interact with other equipment in the same ROS system, so that the registration information in each slave node manager in the same ROS system is consistent with the registration information in the master node manager;
the network state monitoring module is used for detecting the network connection state of each device in the same ROS system from the device;
the communication scheduling module is used for configuring the address of the node manager pointed by the ROS node in the slave device into a secondary node manager after the slave device detects that the network connection with the master device is disconnected, so that the ROS node in the slave device interacts with the secondary node manager;
the auxiliary node manager serves as a slave node manager of the master node manager after the network connection of the master node manager is disconnected;
the node manager is used for providing message publishing, message subscribing and service calling for each ROS node in the ROS system; the registration information of the node manager comprises message publishing registration, message subscribing registration and service registration;
the communication scheduling module comprises a slave node manager protocol module; the slave node manager protocol module is used for protocol-sending out a slave node manager as a slave node manager from the slave device and other slave devices which can communicate with the slave device in the same ROS system after the slave device detects that the network connection with the master device is disconnected, so that the slave device and other slave devices which can communicate with the slave device in the same ROS system configure the node manager address pointed by each ROS node as the slave node manager.
5. The ROS master slave node manager-based communication system of claim 4, wherein the master device is further configured with a priority configuration module;
the priority configuration module is configured to: when the ROS node of the slave equipment is added into the master node manager, the master equipment sequentially sets the priority of each slave equipment according to the adding sequence of the ROS node;
the slave synchronization module is further configured to: the slave equipment interacts with other equipment in the same ROS system to acquire the priority of each slave equipment in the same ROS system;
in the slave node manager protocol module, after the slave device detects that the network connection with the master device is disconnected, the slave device selects the slave node manager with the highest priority of the slave device from the slave devices which can communicate with the slave device as the slave node manager according to the priority of each slave device.
6. The ROS master-slave node manager-based communication system of claim 4, wherein the communication scheduling module has a local slave node manager as a slave node manager.
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| PCT/CN2019/111809 WO2020108161A1 (en) | 2018-11-30 | 2019-10-18 | Ros master and slave node manager-based communication method and system |
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