CN109548056A - A kind of communication means and system based on ROS main and subordinate node manager - Google Patents
A kind of communication means and system based on ROS main and subordinate node manager Download PDFInfo
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- CN109548056A CN109548056A CN201811450715.1A CN201811450715A CN109548056A CN 109548056 A CN109548056 A CN 109548056A CN 201811450715 A CN201811450715 A CN 201811450715A CN 109548056 A CN109548056 A CN 109548056A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/04—Arrangements for maintaining operational condition
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
- H04W84/20—Master-slave selection or change arrangements
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Abstract
The invention discloses a kind of communication means and system based on ROS main and subordinate node manager.The system by setting in the equipment where each node in ROS system from node manager, under ROS system worked well state, it is each from node manager by the method for synchronization make it is each from node manager be configured with and the consistent registration information of host node manager, when host node manager network disconnects, the connected equipment interaction protocol of each network goes out the node manager for being lost the equipment of host node manager as these from node manager, so that when host node manager network disconnects, the equipment of these interconnections can still be worked normally by new node manager.
Description
Technical field
The present invention relates to ROS systems.
Background technique
ROS, Robotic Operation System are robot field's software platforms, are current robot necks
Domain de facto standards is widely applied in many robot systems.ROS provides a kind of subscription-subscription formula
Communications framework.Specifically, ROS system is made of many nodes, wherein having a node is node manager.When wherein one
A node need to other nodes subscribe to data when, the node firstly the need of to node manager pull subscription registration one it is specific
The message of theme, after node manager receives subscription registration request, which becomes the subscriber of the theme message.The node is ordered
When readding the message of the theme, the message of the theme is admitted in ROS message pool.When other nodes obtain the message of corresponding theme,
It pulls subscription the message of the theme firstly the need of to node manager.The node of the theme message is subscribed to it is possible thereby to disappear from ROS
The message of the theme is obtained in breath pond.This subscription-subscription formula communications framework is by the consumer of the producer of data and data
Separation, brings very big flexibility to user, thus is also widely applied.
As robot is using more and more extensive, ROS is many to be opened using the nodes of ROS also to wider extension
Beginning communicates with other nodes by wireless communication, such as unmanned plane networking scene.In the application of unmanned plane networking scene, each
Unmanned plane is equivalent to configured with multiple ROS nodes.Since the channel quality of wireless communication is with transmission range, dry between unmanned plane
The case where disturbing, blocking changes very greatly, and communication quality is poor.Unmanned plane is easy to disconnect with other unmanned planes and be connected to the network.This meaning
Taste, the ROS node configured in the unmanned plane disconnected with other networks can not work normally.In particular, working as node manager
The unmanned plane at place and other each unmanned planes disconnect when being connected to the network, and all ROS nodes of other each unmanned planes all can not
Work.
Summary of the invention
Problem to be solved by this invention: ROS system is applied in unmanned plane networking scene, the robustness problem of system.
To solve the above problems, the scheme that the present invention uses is as follows:
A kind of communication means based on ROS main and subordinate node manager according to the present invention, this method include synchronizing information step, net
Network status monitoring step and communication scheduling step；
The synchronizing information step: interacting from equipment and the other equipment in same ROS system, so that same ROS system
In each registration information from node manager be consistent with the registration information in host node manager；
The Network Expert Systems step: the network connection state of each equipment in same ROS system is detected from equipment；
The communication scheduling step: when detected from equipment connect with master network disconnection after, by ROS node from the device
Pointed node manager address configuration is at vice-node manager, so that ROS node and the vice-node from the device
Manager interacts；
It is described from equipment be the equipment locating for the node manager；The main equipment is equipment locating for main node manager；Institute
Stating vice-node manager is the slave node manager that host node manager is served as after the network connection of main node manager disconnects；It is described
Host node manager is the node manager under ROS system worked well state；Described from node manager is that ROS system is normal
Node manager is not used as under working condition, but can be used as independent node manager after network disconnection.
Further, the communication means according to the present invention based on ROS main and subordinate node manager, the communication scheduling step is also
Including from node manager protocol steps: when detected from equipment disconnection is connect with master network after, from equipment and same ROS
Other in system communicate it is reachable go out one from node manager as vice-node manager from device protocol so that should be from
Other in equipment and same ROS system communicate it is reachable from equipment by node pipe pointed by its respective ROS node
Device address configuration is managed into the vice-node manager.
Further, the communication means according to the present invention based on ROS main and subordinate node manager further includes priority configuration step
Suddenly；
The priority configuration step: when host node manager is added from the ROS node of equipment, main equipment is according to ROS node
Addition sequence sets gradually each priority from equipment；
The synchronizing information step further include: interact, obtain same from equipment and the other equipment in same ROS system
Each priority from equipment in ROS system；
It is described from node manager protocol steps, when detected from equipment connect with master network disconnection after, from equipment root
According to each priority from equipment, from the slave section for communicating reachable selection from the device there is priority of the highest from equipment
Point manager is as vice-node manager.
Further, the communication means according to the present invention based on ROS main and subordinate node manager, the communication scheduling step
In, using local slave node manager as vice-node manager.
A kind of communication system based on ROS main and subordinate node manager according to the present invention, the system include main equipment and from
Equipment；The main equipment is configured with host node manager；It is described to have from device configuration from node manager, from synchronization module, net
Network state monitoring module and communication scheduling module；
The host node manager is the node manager under ROS system worked well state；
It is described from node manager be not as node manager under ROS system worked well state, but can after network disconnection
As independent node manager；
It is described to be used to interact from equipment and the other equipment in same ROS system from synchronization module, so that same ROS system
In each registration information from node manager be consistent with the registration information in host node manager；
The Network Expert Systems module is used to detect the network connection state of each equipment in same ROS system from equipment；
The communication scheduling module be used for when detected from equipment connect with master network disconnect after, by ROS from the device
Node manager address configuration pointed by node is at vice-node manager, so that ROS node and the pair from the device
Node manager interacts；
The vice-node manager is the slave node administration that host node manager is served as after the network connection of main node manager disconnects
Device.
Further, the communication system according to the present invention based on ROS main and subordinate node manager, the communication scheduling module is also
Including from node manager protocol module；It is described to be detected and main equipment net from node manager protocol module for working as from equipment
After network connection disconnects, is communicated from other in equipment and same ROS system and reachable go out one from node pipe from device protocol
Manage device as vice-node manager so that should from equipment and same ROS system other communicate it is reachable from equipment general
Node manager address configuration pointed by its respective ROS node is at the vice-node manager.
Further, the communication system according to the present invention based on ROS main and subordinate node manager, the main equipment are also configured with
Priority configuration module；
The priority configuration module is used for: when host node manager is added from the ROS node of equipment, main equipment is according to ROS
Node addition sequence sets gradually each priority from equipment；
It is described to be also used to from synchronization module: to be interacted from equipment and the other equipment in same ROS system, obtain same ROS
Each priority from equipment in system；
It is described from node manager protocol module, when detected from equipment connect with master network disconnection after, from equipment root
According to each priority from equipment, from the slave section for communicating reachable selection from the device there is priority of the highest from equipment
Point manager is as vice-node manager.
Further, the communication system according to the present invention based on ROS main and subordinate node manager, which is characterized in that described logical
Believe in scheduler module, using local slave node manager as vice-node manager.
Technical effect of the invention is as follows: the present invention by each device configuration from node manager, when host node management
When device network disconnects, the connected equipment interaction protocol of each network goes out one and is lost host node as these from node manager
The node manager of the equipment of manager, so that equipment of these interconnections remain unchanged energy when host node manager network disconnects
Enough worked normally by new node manager.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment of the present invention.
Wherein, 11 be ROS node, and 21 be host node manager, and 22 be priority configuration module, and 23 be main synchronization module,
31 be from node manager, and 32 be Network Expert Systems module, and 33 be from synchronization module, and 34 be communication scheduling module.
Specific embodiment
The present invention is described in further details with reference to the accompanying drawing.
A kind of communication system based on ROS main and subordinate node manager is the ROS system after a kind of expansion, this specification letter
Referred to as ROS system, as shown in Figure 1, including several from equipment and main equipment.In Fig. 1 example, from equipment, there are three be respectively from setting
Standby A, from equipment B, from equipment C.Main equipment and each several ROS nodes 11 are each equipped with from equipment.Main equipment is also configured with master
Node manager 21, priority configuration module 22 and main synchronization module 23.It is also configured with from equipment from node manager 31, network
State monitoring module 32, from synchronization module 33 and communication scheduling module 34.That is, from equipment be locating for the node manager
Equipment；Main equipment is equipment locating for main node manager.
Host node manager 21 is the node manager in the ROS system under normal operating conditions.When the ROS system is normal
When work, ROS node 11 carries out news release registration, message subscribing registration, service registration to host node manager 21, and passes through
Host node manager 21 gives out information and calls service.From node manager 21 be under the ROS system worked well state not
It can be used as independent node manager as node manager, but after network disconnection.Specifically, example as shown in figure 1, if from
Equipment A and other equipment, which disconnect, to be connected to the network, and becomes an isolated equipment from equipment A at this time, from the ROS node on equipment A
11 disconnect not worked normally with node manager.At this point, pass through the configuration of communication scheduling module 34, starting
From the slave node manager 31 on equipment A, so that communicated from the ROS node 11 on equipment A with the node manager,
So that ROS node 11 can work normally.
It is used to interact from equipment and the other equipment in ROS system from synchronization module, so that each in the ROS system
A registration information from node manager is consistent with the registration information in host node manager, and obtains the ROS system
In each priority from equipment.It include two parts from synchronization module: registration information synchronization and priority sync.
Registration information in node manager includes news release registration, message subscribing registration and service registration.Specific to
Using the local slave node manager of starting as the section from each ROS node 11 on equipment A after the aforementioned disconnection from equipment A network
When point manager, each ROS node 11 gives out information to this from node manager, or subscribes to message from this from node manager
When, it needs to be registered in advance, but each ROS node 11 is previously using the host node manager in main equipment as node manager,
Therefore host node manager 21 of each ROS node 11 into main equipment initiates news release registration and message subscribing registration, main section
Point manager 21 preserves these registration informations.After the slave node manager starting on equipment A, these registration informations are needed
News release or message subscribing can be carried out with ROS node.For this reason, it may be necessary to by the registration information in host node manager 21 in network
Preamble is disconnected to from node manager 31.By the registration information in host node manager 21 network disconnect preamble to from
Process on node manager 31 is that registration information above-mentioned is synchronous.
The synchronous mode of registration information have it is general there are two types of: the first be it is each directly carried out from equipment with main equipment it is same
Step；It is for second each to be synchronized from equipment and other equipment.Other equipment can be main equipment, be also possible to other from setting
It is standby, as long as being able to carry out network communication.Under second of registration information method of synchronization, specific in the example of Fig. 1, from equipment
A can be synchronized with from equipment B, can also be synchronized, can also be synchronized with main equipment with equipment C.In view of
The complexity of two kinds of registration information methods of synchronization, the present embodiment preferentially use first way.The first registration information side of synchronization
It under formula, in the example of specific Fig. 1, is only synchronized with main equipment from equipment A, from equipment B, from equipment C, from equipment A, from equipment
B, from equipment C mutually without synchronization.The present embodiment registration information is synchronous, and the specific method is as follows: initializing first from equipment
When, that is, when host node manager is added from the ROS node in equipment, host node pipe is once pulled from main equipment from equipment
Manage all registration informations on device.Then when the registration information on host node manager changes, the master in main equipment is same
The modification information of registration information is sent to from equipment by step module 23.It is, main synchronization module 23 for respond from equipment from
The operation of all registration informations of synchronization module 33 and the modification information of registration information is pushed to from synchronization module 33.
The present embodiment is each to be equipped with priority from node manager.Due to from node manager and there are one from equipment
One corresponding relationship, therefore from the priority of node manager namely from the priority of equipment.Priority is used to work as main equipment net
When network disconnects, it is each can be according to the priority from each slave node for selecting highest priority from node manager from equipment
Manager is as vice-node manager.In the present invention, vice-node manager is to serve as after the network connection of main node manager disconnects
The slave node manager of host node manager.Specific in Fig. 1 example, when main equipment with from equipment A, from equipment B, from equipment C
Disconnect network connection, and from equipment A, from equipment B, from network between equipment C still be connected in the case where, need from equipment A,
One is selected from node manager from node manager as vice-node manager from equipment B, from each of equipment C.For this purpose,
From equipment A, from equipment B, from equipment C need to preserve it is each from the table listings of node manager, priority and it is each from
The address of node manager.In the present embodiment, the priority sync process synchronous with aforementioned registration information is similar, and this specification is not
It repeats again.
Network Expert Systems module 32 is used to detect the network connection state of each equipment in ROS system.Communication is adjusted as a result,
Spending module 34 can configure according to the network connection state of each equipment accordingly from node manager as vice-node management
Device.Communication scheduling module 34, which is used to detect from equipment by Network Expert Systems module 32, connect disconnection with master network
Afterwards, by node manager address configuration pointed by ROS node from the device at vice-node manager, so that from equipment
In ROS node interacted with the vice-node manager.By taking Fig. 1 example as an example, main equipment with from equipment A, from equipment B, from
Equipment C disconnect network connection, and from equipment A, from equipment B, from network between equipment C still be connected in the case where, from equipment A,
From equipment B, from needing agreement to go out a vice-node manager between equipment C.Agreement goes out a vice-node manager processes also just
Above-mentioned from node manager protocol steps: when detected from equipment connect with master network disconnection after, from equipment and ROS
Other in system, which communicate, reachable goes out one from node manager as vice-node manager from device protocol.From node pipe
Vice-node manager is obtained after reason device agreement, later, communication scheduling module 34 is by node pointed by ROS node from the device
Manager address configuration is at vice-node manager.From there are many kinds of the specific embodiments of node manager agreement, the present embodiment
Using the priority mode from node manager, it is, when detected from equipment connect with master network disconnection after, from
Equipment has priority of the highest from equipment according to each priority from equipment, from the selection from the device for communicating reachable
Slave node manager as vice-node manager.
From the priority of node manager, it is, configuring mould by the priority in main equipment from the priority of equipment
Block 22 is configured.Priority configuration can the most simply use fixed form, it is, in the host by manually compiling
The mode collected is each from one priority configuration file of node manager editor.In the present embodiment, priority configuration module 22
Priority is set gradually by the tandem that main equipment is added from equipment, it is, when main section is added from the ROS node of equipment
When point manager, main equipment sets gradually each priority from equipment according to ROS node addition sequence.
The working principle of the present embodiment is as follows: when initialization, main equipment composition ROS system is added one by one from equipment.Master sets
The standby priority configuration module that passes through is each from the slave node manager configuration preference level in equipment.From the ROS node in equipment
After host node manager is added, news release registration, message subscribing registration and service registration are carried out.These registration informations and from
The precedence information of node manager is synchronous by registration information and priority sync is synchronized to each from equipment of ROS system
In, it all include as a result, these registration informations from node manager from each of equipment.When network disconnects, from facility network
Network state monitoring module detects that main equipment disconnects, and starts communication scheduling step as a result, and selection passes through one from node manager
As node manager, the normal work of itself ROS node is thus maintained.
One of simplification as above embodiment: in communication scheduling module can using local slave node manager as
Vice-node manager, it is, when detected from equipment by Network Expert Systems module connect with master network disconnection after,
By node manager address configuration pointed by ROS node from the device at local slave node manager, so that should
ROS node from the device and the slave node manager of the local interact.The defect of this mode is, when main equipment with
It is each when disconnecting network from equipment, it is each from equipment respectively using local slave node manager as node manager, at this point, respectively
It is a from cannot achieve interacting message between equipment.
Claims (8)
1. a kind of communication means based on ROS main and subordinate node manager, which is characterized in that this method include synchronizing information step,
Network Expert Systems step and communication scheduling step；
The synchronizing information step: interacting from equipment and the other equipment in same ROS system, so that same ROS system
In each registration information from node manager be consistent with the registration information in host node manager；
The Network Expert Systems step: the network connection state of each equipment in same ROS system is detected from equipment；
The communication scheduling step: when detected from equipment connect with master network disconnection after, by ROS node from the device
Pointed node manager address configuration is at vice-node manager, so that ROS node and the vice-node from the device
Manager interacts；
It is described from equipment be the equipment locating for the node manager；The main equipment is equipment locating for main node manager；Institute
Stating vice-node manager is the slave node manager that host node manager is served as after the network connection of main node manager disconnects；It is described
Host node manager is the node manager under ROS system worked well state；Described from node manager is that ROS system is normal
Node manager is not used as under working condition, but can be used as independent node manager after network disconnection.
2. the communication means as described in claim 1 based on ROS main and subordinate node manager, which is characterized in that the communication is adjusted
Degree step further include from node manager protocol steps: when detected from equipment connect with master network disconnect after, from equipment
It is communicated with other in same ROS system and reachable goes out one from node manager as vice-node management from device protocol
Device so that should from equipment and same ROS system other communicate it is reachable from equipment that its respective ROS node is signified
To node manager address configuration at the vice-node manager.
3. the communication means as claimed in claim 2 based on ROS main and subordinate node manager, which is characterized in that further include preferential
Grade configuration step；
The priority configuration step: when host node manager is added from the ROS node of equipment, main equipment is according to ROS node
Addition sequence sets gradually each priority from equipment；
The synchronizing information step further include: interact, obtain same from equipment and the other equipment in same ROS system
Each priority from equipment in ROS system；
It is described from node manager protocol steps, when detected from equipment connect with master network disconnection after, from equipment root
According to each priority from equipment, from the slave section for communicating reachable selection from the device there is priority of the highest from equipment
Point manager is as vice-node manager.
4. the communication means as described in claim 1 based on ROS main and subordinate node manager, which is characterized in that the communication is adjusted
It spends in step, using local slave node manager as vice-node manager.
5. a kind of communication system based on ROS main and subordinate node manager, which is characterized in that the system includes main equipment and from setting
It is standby；The main equipment is configured with host node manager；It is described to have from device configuration from node manager, from synchronization module, network
State monitoring module and communication scheduling module；
The host node manager is the node manager under ROS system worked well state；
It is described from node manager be not as node manager under ROS system worked well state, but can after network disconnection
As independent node manager；
It is described to be used to interact from equipment and the other equipment in same ROS system from synchronization module, so that same ROS system
In each registration information from node manager be consistent with the registration information in host node manager；
The Network Expert Systems module is used to detect the network connection state of each equipment in same ROS system from equipment；
The communication scheduling module be used for when detected from equipment connect with master network disconnect after, by ROS from the device
Node manager address configuration pointed by node is at vice-node manager, so that ROS node and the pair from the device
Node manager interacts；
The vice-node manager is the slave node administration that host node manager is served as after the network connection of main node manager disconnects
Device.
6. the communication system as claimed in claim 5 based on ROS main and subordinate node manager, which is characterized in that the communication is adjusted
Degree module has including from node manager protocol module；It is described from node manager protocol module be used for when from equipment detect with
After master network connection disconnects, is communicated from other in equipment and same ROS system and reachable go out one from device protocol
From node manager as vice-node manager so that should from equipment and same ROS system other communicate it is reachable
From equipment by node manager address configuration pointed by its respective ROS node at the vice-node manager.
7. the communication system as claimed in claim 6 based on ROS main and subordinate node manager, which is characterized in that the main equipment
It is also configured with priority configuration module；
The priority configuration module is used for: when host node manager is added from the ROS node of equipment, main equipment is according to ROS
Node addition sequence sets gradually each priority from equipment；
It is described to be also used to from synchronization module: to be interacted from equipment and the other equipment in same ROS system, obtain same ROS
Each priority from equipment in system；
It is described from node manager protocol module, when detected from equipment connect with master network disconnection after, from equipment root
According to each priority from equipment, from the slave section for communicating reachable selection from the device there is priority of the highest from equipment
Point manager is as vice-node manager.
8. the communication system as claimed in claim 5 based on ROS main and subordinate node manager, which is characterized in that the communication is adjusted
It spends in module, using local slave node manager as vice-node manager.
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| CN201811450715.1A CN109548056B (en) | 2018-11-30 | 2018-11-30 | Communication method and system based on ROS master-slave node manager |
| 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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| CN201811450715.1A CN109548056B (en) | 2018-11-30 | 2018-11-30 | Communication method and system based on ROS master-slave node manager |
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| WO2020108161A1 (en) * | 2018-11-30 | 2020-06-04 | 中国人民解放军陆军工程大学 | Ros master and slave node manager-based communication method and system |
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| CN112839205A (en) * | 2021-01-11 | 2021-05-25 | 四川泓宝润业工程技术有限公司 | Multi-channel video transmission processing scheme |
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| CN102571452A (en) * | 2012-02-20 | 2012-07-11 | 华为技术有限公司 | Multi-node management method and system |
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| CN107451172B (en) * | 2016-03-31 | 2021-05-28 | 阿里巴巴集团控股有限公司 | Data synchronization method and equipment for version management system |
| CN107756395B (en) * | 2016-08-19 | 2020-12-01 | 腾讯科技（深圳）有限公司 | Control system, method and device of intelligent robot |
| CN107819808A (en) * | 2016-09-14 | 2018-03-20 | 北京百度网讯科技有限公司 | Communicate to connect method for building up and device |
| WO2018190015A1 (en) * | 2017-04-12 | 2018-10-18 | ソニー株式会社 | Information processing device, information processing method, and computer program |
| CN107291589B (en) * | 2017-05-04 | 2020-09-04 | 中国电子科技集团公司第三十二研究所 | Method for improving system reliability in robot operating system |
| CN109548056B (en) * | 2018-11-30 | 2021-07-23 | 中国人民解放军陆军工程大学 | Communication method and system based on ROS master-slave node manager |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102571452A (en) * | 2012-02-20 | 2012-07-11 | 华为技术有限公司 | Multi-node management method and system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020108161A1 (en) * | 2018-11-30 | 2020-06-04 | 中国人民解放军陆军工程大学 | Ros master and slave node manager-based communication method and system |
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