CN109525659B - Method and system for subscribing and registering ROS message - Google Patents
Method and system for subscribing and registering ROS message Download PDFInfo
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- CN109525659B CN109525659B CN201811350151.4A CN201811350151A CN109525659B CN 109525659 B CN109525659 B CN 109525659B CN 201811350151 A CN201811350151 A CN 201811350151A CN 109525659 B CN109525659 B CN 109525659B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/2866—Architectures; Arrangements
- H04L67/30—Profiles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L65/00—Network arrangements, protocols or services for supporting real-time applications in data packet communication
- H04L65/1066—Session management
- H04L65/1073—Registration or de-registration
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/56—Provisioning of proxy services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/60—Scheduling or organising the servicing of application requests, e.g. requests for application data transmissions using the analysis and optimisation of the required network resources
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Abstract
The invention discloses a method and a system for subscribing and registering ROS messages. When the ROS node sends out a message subscription registration request, the method firstly refers to a first message subscription registration configuration file stored locally, if the first message subscription registration configuration file contains the message subscription registration or subscription request, the completion is directly returned, otherwise, the message subscription registration or subscription request is sent to the node manager. When the node manager initializes, the local agent refers to the second message subscription registration configuration file stored locally, and the local agent sends a message subscription registration request to the local node manager according to the message subscription registration request contained in the second message subscription registration configuration file, thereby avoiding the problem of failure of subscribing registration messages caused by network problems when the system initializes the subscribing registration messages, and reducing the network transmission overhead of message subscription registration.
Description
Technical Field
The invention relates to an ROS message subscription registration subscription.
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 vehicles, each unmanned aerial vehicle is equivalent to one ROS node. Because the channel quality of wireless communication varies greatly along with the transmission distance, interference and shielding conditions between unmanned aerial vehicles, the communication quality is poor, and the unmanned aerial vehicle node initiates message subscription registration and subscription easily fails. On the other hand, some messages of the drones, such as video data subscribed by the drone carrying the camera, may be predicted to be subscribed by other drones, and such messages that can be predicted to be acquired by other specific nodes are called as directed messages. The directed message is realized in a mode of no online message subscription registration subscription, and unnecessary transmission bandwidth is wasted.
Disclosure of Invention
The problems to be solved by the invention are as follows: under the condition of poor network communication quality, the message subscription registration is easy to fail, and the transmission bandwidth of the directed message subscription registration is reduced.
In order to solve the problems, the invention adopts the following scheme:
the method for subscribing and registering the ROS message comprises a step of subscribing and registering a proxy by a node and a step of subscribing and registering the proxy by a manager;
the node subscribing and registering proxy step: when an ROS node sends out a message subscription registration request, a first message subscription registration configuration file stored locally is consulted; if the first message subscription registration configuration file contains the message subscription registration request, directly returning to complete message subscription registration, otherwise, sending the message subscription registration request to a node manager;
the manager subscribing the registration agent step: when the node manager is initialized, a second message subscription registration configuration file stored locally is consulted, and a subscription registration message is carried out according to a message subscription registration request contained in the second message subscription registration configuration file;
the second message subscription registration profile comprises at least one message subscription registration request in the first message subscription registration profile.
Further, according to the ROS message subscription registration method of the present invention, the node subscription registration agent step is implemented by a node local subscription registration agent module: when the ROS node sends out a message subscription registration request, the message subscription registration request is sent to the node local subscription registration agent module; after receiving a message subscription registration request sent by a local ROS node, the node local subscription registration agent module refers to a first message subscription registration configuration file stored locally, if the first message subscription registration configuration file contains the message subscription registration request, directly returns a message subscription registration completion message to the local ROS node, otherwise, sends the message subscription registration request to a node manager.
Further, according to the ROS message subscription registration method of the present invention, the manager subscription registration agent step is implemented by a manager local subscription registration agent module; during initialization, the manager local subscription registration agent module refers to a second message subscription registration configuration file stored locally, and sends a message subscription registration request to the node manager according to a message subscription registration request contained in the second message subscription registration configuration file.
The system for the ROS message subscription registration comprises a node local subscription registration agent module and a manager local subscription registration agent module;
the node local subscription registration agent module is configured to: after receiving a message subscription registration request sent by a local ROS node, looking up a first message subscription registration configuration file stored locally, if the first message subscription registration configuration file contains the message subscription registration request, directly returning to the local ROS node to complete message subscription registration, and otherwise, sending the message subscription registration request to a node manager;
the manager local subscription registration agent module is configured to: when initializing, looking up a second message subscription registration configuration file stored locally, and sending a message subscription registration request to the node manager according to a message subscription registration request contained in the second message subscription registration configuration file;
the second message subscription registration profile comprises at least one message subscription registration request in the first message subscription registration profile.
The invention has the following technical effects: according to the invention, the subscriber and the subject of the directional message are written into the configuration file, and when the message subscription registration is carried out on the node manager, the configuration file stored locally is directly consulted through the local agent, so that the network transmission is reduced.
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Fig. 1 is a schematic view of the overall structure of the embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the present embodiment is a system for ROS message subscription registration. The system involves a message subscriber physical device 3 and a node manager physical device 2. When the system is applied to the unmanned aerial vehicle networking system, the message subscriber physical device 3 is an unmanned aerial vehicle; the node manager physical device 2 may be an unmanned aerial vehicle or a ground station. The message subscriber physical device 3 and the node manager physical device 2 have the ROS system installed therein. In this ROS system, both the message subscriber physical device 3 and the node manager physical device 2 are provided with ROS nodes: ROS node 31 and node manager 21. That is, the ROS node set by the node manager physical device 2 is an ROS master, which is also a node manager. The system for ROS message subscription registration of the present embodiment includes, in addition to the ROS node 31 and the node manager 21 described above, a node local subscription registration agent module 32 and a manager local subscription registration agent module 22. The node local subscription registration agent module 32 and the manager local subscription registration agent module 22 are disposed on the message subscriber physical device 3 and the node manager physical device 2, respectively.
When the ROS node 31 on the message subscriber physical device 3 requests a message subscription registration from the node manager 21 on the node manager physical device 2, the request is not directly issued to the node manager 21, but a message subscription registration request is first issued to the node local subscription registration agent module 32. When receiving the message subscription registration request, the node local subscription registration agent module 32 refers to the first message subscription registration profile 33, if the first message subscription registration profile 33 includes the message subscription registration request, directly returns a message subscription registration success message to the ROS node 31, and if the first message subscription registration profile 33 does not include the message subscription registration request, the node local subscription registration agent module 32 sends the message subscription registration request to the node manager 21, and then returns a result returned by the message subscription registration request returned by the node manager 21 to the ROS node 31. The first message subscription registration profile 33 contains message subscription registration requests directed to message subscribers.
When the ROS system on the node manager physical device 2 is initialized, the manager local subscription registration agent module 22 refers to the second message subscription registration configuration file 23 stored locally, and sends a message subscription registration request to the node manager 21 for message subscription registration according to the message subscription registration request included in the second message subscription registration configuration file 23.
The first message subscription registration profile 33 and the second message subscription registration profile 23 are both manually edited profiles. Obviously, the second message subscription registration profile 23 typically contains the message subscription registration request contained in the first message subscription registration profile 33. Obviously, the message subscription registration request includes at least the message topic. In addition, those skilled in the art will appreciate that the message subscription registration request contained in the first message subscription registration profile 33 may differ from the message subscription registration request contained in the second message subscription registration profile 23. For example, in the message subscription registration request contained in the first message subscription registration profile 33, the information of the subscriber may be implicit in the message subscription registration request of the ROS node 31, and the message subscription registration request contained in the first message subscription registration profile 33 only needs to list the message topic.
In addition, it should be noted that in the present embodiment, there is only one message subscriber physical device 3 as a message subscriber, and those skilled in the art understand that in the ROS system, there may be a plurality of message subscribers, and accordingly, there may be a plurality of message subscriber physical devices 3. In addition, those skilled in the art understand that multiple ROS nodes may be configured in one physical device. Specifically, in the message subscriber physical device 3, each ROS node located in the message subscriber physical device 3 shares the node local subscription registration agent module 32, that is, when each ROS node located in the message subscriber physical device 3 performs message subscription registration, first, a message subscription registration request is sent to the node local subscription registration agent module 32. In the case where the node manager physical device 2 includes a plurality of ROS nodes, one of the ROS nodes is the node manager 21, and the other ROS nodes are ROS nodes managed by the node manager. When the ROS nodes perform message subscription registration, the ROS nodes can also send message subscription registration requests to corresponding node local subscription registration agent modules. When receiving the message subscription registration request, the node local subscription registration agent module refers to the first message subscription registration profile 33, if the first message subscription registration profile 33 contains the message subscription registration request, directly returns message subscription registration success information to the ROS nodes, and if the first message subscription registration profile 33 does not contain the message subscription registration request, the node local subscription registration agent module sends the message subscription registration request to the node manager, and then returns a result returned by the message subscription registration request returned by the node manager 21 to the corresponding ROS node.
The message subscriber physical device 3 and the node manager physical device 2 are typically not the same physical device. Obviously, the node local subscription registration agent module 32 in the message subscriber physical device 3 issues a message subscription registration request to the node manager 21 requiring data to be transmitted over the network.
Claims (4)
1. A method for ROS message subscription registration is characterized in that the method comprises a node subscription registration agent step and a manager subscription registration agent step;
the node subscribing and registering proxy step: when an ROS node sends out a message subscription registration request, a first message subscription registration configuration file stored locally is consulted; if the first message subscription registration configuration file contains the message subscription registration request, directly returning to complete message subscription registration, otherwise, sending the message subscription registration request to a node manager;
the manager subscribing the registration agent step: when the node manager is initialized, a second message subscription registration configuration file stored locally is consulted, and a subscription registration message is carried out according to a message subscription registration request contained in the second message subscription registration configuration file;
the second message subscription registration profile at least comprises a message subscription registration request in the first message subscription registration profile;
the first message subscription registration configuration file and the second message subscription registration configuration file are both manually edited configuration files.
2. The method of ROS message subscription registration of claim 1, wherein said node subscribing to a registration agent step is implemented by a node local subscription registration agent module: when the ROS node sends out a message subscription registration request, the message subscription registration request is sent to the node local subscription registration agent module; after receiving a message subscription registration request sent by a local ROS node, the node local subscription registration agent module refers to a first message subscription registration configuration file stored locally, if the first message subscription registration configuration file contains the message subscription registration request, directly returns a message subscription registration completion message to the local ROS node, otherwise, sends the message subscription registration request to a node manager.
3. The method of ROS message subscription registration of claim 1, wherein said manager subscription registration agent step is implemented by a manager local subscription registration agent module; during initialization, the manager local subscription registration agent module refers to a second message subscription registration configuration file stored locally, and sends a message subscription registration request to the node manager according to a message subscription registration request contained in the second message subscription registration configuration file.
4. A system for ROS message subscription registration, the system comprising a node local subscription registration agent module and a manager local subscription registration agent module;
the node local subscription registration agent module is configured to: after receiving a message subscription registration request sent by a local ROS node, looking up a first message subscription registration configuration file stored locally, if the first message subscription registration configuration file contains the message subscription registration request, directly returning to the local ROS node to complete message subscription registration, and otherwise, sending the message subscription registration request to a node manager;
the manager local subscription registration agent module is configured to: when initializing, looking up a second message subscription registration configuration file stored locally, and sending a message subscription registration request to the node manager according to a message subscription registration request contained in the second message subscription registration configuration file;
the second message subscription registration profile at least comprises a message subscription registration request in the first message subscription registration profile;
the first message subscription registration configuration file and the second message subscription registration configuration file are both manually edited configuration files.
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| US20160088467A1 (en) * | 2014-09-24 | 2016-03-24 | Qualcomm Incorporated | Simulating multi-sim multi-subscription functionality on different mobile equipment using short range communication technologies |
| CN105933444B (en) * | 2016-06-27 | 2017-06-09 | 焦点科技股份有限公司 | Based on the service discovery method that registration center and caching mechanism are cooperateed with |
| CN107589752B (en) * | 2017-07-25 | 2021-08-20 | 天津大学 | Method and system for realizing cooperative formation of unmanned aerial vehicle and ground robot |
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Inventor after: Qian Liqiang Inventor before: Qian Liqiang Inventor before: Xiong Fei Inventor before: Wang Hai Inventor before: Guo Xiao Inventor before: Li Aijing Inventor before: Chen Juan Inventor before: Rong Fengjuan Inventor before: Xu Zhengqin |
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