CN110333869A - ROS robot debugging apparatus, method, computer equipment and program product - Google Patents
ROS robot debugging apparatus, method, computer equipment and program product Download PDFInfo
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- CN110333869A CN110333869A CN201910560524.9A CN201910560524A CN110333869A CN 110333869 A CN110333869 A CN 110333869A CN 201910560524 A CN201910560524 A CN 201910560524A CN 110333869 A CN110333869 A CN 110333869A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/36—Preventing errors by testing or debugging software
- G06F11/362—Software debugging
- G06F11/3624—Software debugging by performing operations on the source code, e.g. via a compiler
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/40—Transformation of program code
- G06F8/41—Compilation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/60—Software deployment
Abstract
The embodiment of the present invention discloses a kind of ROS robot debugging apparatus, method, computer equipment and computer program product, for improving development efficiency.ROS robot debugging apparatus part includes: source code editor module and compiling deployment module, and source code editor module visualization interface corresponding with compiling deployment module is shown in the displaying interface of ROS robot debugging apparatus；Source code editor module is for obtaining source code；Compiling deployment module is used to be compiled source code according to the first compiling instruction to generate program bag, and program bag is deployed to ROS robot；Or for source code to be deployed to ROS robot according to source code Disposition Instructions, and the source code for being deployed to ROS robot is compiled to generate program bag；Deployment module is compiled, is also used to execute instruction control ROS robot according to program bag and executes program bag, and ROS robot is debugged according to debugging instruction.
Description
Technical field
The present invention relates to robot debugging field more particularly to a kind of ROS robot debugging apparatus, method, computer
Equipment and computer program product.
Background technique
ROS (Robot Operating System) is the open source operating system towards ROS robot, and ROS is provided
A series of program libraries and tool can create ROS robot application software with helper applications developer.In addition to this, additionally it is possible to
The various functions of similar legacy operating system are provided, as between hardware abstraction, underlying device control, the realization of common mathematical function, process
Message transmission and program bag management etc..ROS has become the indispensable course of current ROS robot research.But there are excessively high by ROS
Threshold, it is highly professional, be unfamiliar with Linux software development debugging, ROS software frame, ROS robot software and hardware in user
When exploitation debugging, it is difficult effectively to use using ROS, debugging process is many and diverse, causes development efficiency lower.
Summary of the invention
The embodiment of the invention provides a kind of ROS robot debugging apparatus, method, computer equipment and computer programs
Product, for improving development efficiency.
Therefore, first aspect present invention provides a kind of ROS robot debugging apparatus, ROS robot debugging apparatus
Including source code editor module and compiling deployment module, shown in the displaying interface of ROS robot debugging apparatus described in having
Source code editor module visualization interface corresponding with compiling deployment module；
The source code editor module, for obtaining source code according to the edit operation of user；
The compiling deployment module for receiving the first compiling instruction of user's triggering, and is compiled according to described first
It translates instruction to be compiled the source code to generate program bag, and when the program bag Disposition Instructions for receiving user's triggering
Afterwards, described program packet is deployed to the ROS robot；
Or the compiling deployment module, for receiving the source code deployment of user's triggering, according to the source code portion
The source code is deployed to ROS robot by administration's instruction, and after receiving the second compiling instruction of user's triggering, to portion
It affixes one's name to the source code of the ROS robot and is compiled to generate described program packet；
The compiling deployment module, the program bag for being also used to receive user's triggering are executed instruction, are held according to program bag
Row instruction controls the ROS robot and executes described program packet, and is used for after receiving the debugging instruction of the user, according to
The debugging instruction debugs the ROS robot.
In a kind of possible realization, ROS robot debugging apparatus further includes ROS robotic console module, institute
It states in the displaying interface of ROS robot debugging apparatus and shows there is the corresponding visualization interface of the ROS robotic console module；
Wherein, the ROS robotic console module, for receiving the control instruction of user's triggering, and according to institute
State the relevant operation that control instruction controls the ROS robot, the relevant operation include at least it is following any one: show institute
ROS robot working is stated, task is created for the ROS robot and controls the ROS robot and executes task.
In a kind of possible realization, ROS robot debugging apparatus further includes algorithm management module, the ROS machine
Show there is the corresponding visualization interface of the algorithm management module in the displaying interface of device people's debugging apparatus；
The algorithm management module for receiving the algorithms selection instruction of user's triggering, and is selected according to the algorithm
Select instruction and determine the corresponding algorithm of the ROS robot, the algorithm include include at least it is following any one: positioning immediately with
Map structuring SLAM algorithm, navigation algorithm, global path planning algorithm, local paths planning algorithm and location algorithm.
In a kind of possible realization, ROS robot debugging apparatus further includes parameter configuration module, the ROS machine
Show there is the corresponding visualization interface of the parameter configuration module in the displaying interface of device people's debugging apparatus；
The parameter configuration module, the parameter configuration instruction configuration various parameters for being triggered according to the user.
In a kind of possible realization, ROS robot debugging apparatus further includes integrated plugin module, the ROS machine
Show there is the corresponding visualization interface of the integrated plugin module in the displaying interface of device people's debugging apparatus, wherein described integrated
Card module is integrated with various visualization plug-in units and is shown in the corresponding visualization interface of the integrated plugin module.
In a kind of possible realization, ROS robot debugging apparatus further includes device management module, the ROS machine
Show there is the corresponding visualization interface of the device management module in the displaying interface of device people's debugging apparatus；
The device management module, for managing the relevant information of multiple ROS robots, the relevant information includes ROS
Robot device's information and link information, the multiple ROS machine artificially with the place that carries ROS robot debugging apparatus
The ROS robot that master host is communicatively coupled.
Second aspect of the present invention provides a kind of ROS robot adjustment method, is applied to operation just like front first aspect
In the host of the ROS robot debugging apparatus, which comprises
The host obtains source code by source code editor module；
The first compiling that the host receives user's triggering by compiling deployment module instructs, and according to described
First compiling instruction is compiled the source code to generate program bag, and when the program bag portion for receiving user's triggering
After administration's instruction, described program packet is deployed to the ROS robot；
Or the host receives the source code that the user triggers by the compiling deployment module and disposes, according to institute
It states source code Disposition Instructions and the source code is deployed to ROS robot, and work as and institute is received by the compiling deployment module
After the second compiling instruction for stating user's triggering, the source code for being deployed to the ROS robot is compiled to generate
State program bag；
The host is also executed instruction by the program bag that the compiling deployment module receives user's triggering, root
The control ROS robot is executed instruction according to described program packet and executes described program packet, and is received when by compiling deployment module
To after the debugging instruction of the user, the ROS robot is adjusted according to the debugging instruction according to the debugging instruction
Examination.
In a kind of possible realization, the method also includes:
The host receives the control instruction of user triggering by ROS robotic console module, and according to
The control instruction controls the relevant operation of the ROS robot, the relevant operation include at least it is following any one: show
ROS robot working creates task for the ROS robot and controls the ROS robot execution task.
In a kind of possible realization, the method also includes:
The host is instructed by the algorithms selection that algorithm management module receives user's triggering, and according to described
Algorithms selection instruction determines the corresponding algorithm of the ROS robot, the algorithm include include at least it is following any one: immediately
Positioning and map structuring SLAM algorithm, navigation algorithm, global path planning algorithm, local paths planning algorithm and location algorithm.
Third aspect present invention provides a kind of computer equipment, and the computer equipment includes memory and at least one
A processor, the memory are connected to the processor；The memory is stored with can be by least one described processor institute
The computer program of execution, the computer program are able to carry out aforementioned second aspect when being executed by least one described processor
The method.
Fourth aspect present invention provides a kind of computer program product, before the computer program product is able to achieve execution
State the function that second aspect method is realized.
Detailed description of the invention
Provided technical solution to facilitate the understanding of the present invention, the also corresponding specification provided for reference of the present invention
Attached drawing, it should be noted that be based on following attached drawings, it is attached that the description that those skilled in the art can be combined with specification obtains other
Figure.
Fig. 1 is system framework schematic diagram applied by a kind of ROS robot adjustment method of the embodiment of the present invention；
Fig. 2 is another signal of system framework applied by a kind of ROS robot adjustment method of the embodiment of the present invention；
Fig. 3 is a kind of ROS robot debugging apparatus one embodiment structural schematic diagram of the embodiment of the present invention；
Fig. 4 is a kind of ROS robot adjustment method one embodiment flow diagram of the embodiment of the present invention；
Fig. 5 is a kind of computer equipment one embodiment structural schematic diagram in the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those skilled in the art's every other implementation obtained without creative efforts
Example, shall fall within the protection scope of the present invention.
Description and claims of this specification and the term " first " in above-mentioned attached drawing, " second " are for distinguishing class
As object, without being used to describe a particular order or precedence order.It should be understood that the data used in this way are in appropriate situation
Under can be interchanged, so that the embodiments described herein can be real with the sequence other than the content for illustrating or describing herein
It applies.In addition, term " includes " and " having " and their any deformation, it is intended that cover it is non-exclusive include, for example, packet
The process, method, system, product or equipment for having contained a series of steps or units those of be not necessarily limited to be clearly listed step or
Unit, but may include other steps being not clearly listed or intrinsic for these process, methods, product or equipment or
Unit.
Learn for ROS robot ROS and research threshold be excessively high, leads to the problem that development efficiency is too low, the present invention provides
A kind of ROS robot debugging apparatus, which is a kind of Integrated Development Environment, ROS robot debugging dress
Set and show algorithm management in a manner of graphical interfaces, source code editor, compiling debug and focus on ROS robot distal end deployment and
The operation control of ROS robot is visualized, it is easy to use, development efficiency can be improved.
As described in Figure 1, Fig. 1 is system framework schematic diagram applied by the embodiment of the present invention, including host and ROS machine
Device people wherein establishes communication connection between host and ROS robot, operation has the embodiment of the present invention to be mentioned on host
The ROS robot debugging apparatus (implementing to be also referred to as RosStudio in the present invention) of confession, in embodiments of the present invention, host is logical
ROS robot debugging apparatus provided by the embodiment of the present invention is crossed, exploitation debugging can be carried out to ROS robot.
It should be noted that as shown in Fig. 2, foundation can be passed through when host and ROS robot establish connection
The mode of SSH service is attached, and ssh client (SSH Client) particularly is arranged in host side, and in ROS
SSH server-side (SSH Server) is arranged in robot side, and is debugged by GDB.
Separately below to ROS robot debugging apparatus provided by inventive embodiments and debugging side, corresponding ROS robot
Method is described:
Referring to Fig. 3, the embodiment of the invention provides a kind of ROS robot debugging apparatus 10, which is characterized in that described
ROS robot debugging apparatus 10 includes source code editor module 101 and compiling deployment module 102, the ROS robot debugging dress
Showing in the displaying interface set has the source code editor module 101 and the compiling corresponding visualization interface of deployment module 102；
The source code editor module 101, for obtaining source code according to the edit operation of user；It is appreciated that ROS machine
Device people debugging apparatus 10 is to operate on host to have the exploitation debugging enironment for showing interface, in host operation
When stating ROS robot debugging apparatus 10, it can show that the source code editor module 101 and compiling deployment module 102 are corresponding
Visualization interface.Wherein, user can be in editor's work of the 101 enterprising line code of corresponding visualization interface of source code editor module
Make, and source code editor module 101 can obtain source code according to the edit operation of user.It should be noted that this ROS machine
People's debugging apparatus supports various type of codes illustratively to can be the codes such as C++ or Python.
The compiling deployment module 102, for receiving the first compiling instruction of user's triggering, and according to described first
Compiling instruction is compiled the source code to generate program bag, and when the program bag deployment for receiving user's triggering refers to
After order, described program packet is deployed to the ROS robot；It is appreciated that getting source code in source code editor module 101
Afterwards, compiling deployment module 102 source code can be compiled, wherein user can compiling deployment module 102 is corresponding can
Compilation operations are carried out on interface depending on changing, such as are clicked and virtually compiled provided by the compiling corresponding visualization interface of deployment module 102
Button is translated, so that triggering the first compiling instruction, namely compiling deployment module 102 can receive the first compiling that user triggers and refer to
Enable, and and according to it is described first compiling instruction the source code is compiled, to be verified to source code, verify source code
It can be by compiling, if can illustrate that source code is errorless, and generate program bag by compiling.Meanwhile user can dispose in compiling
The enterprising line program packet deployment operation of the corresponding visualization interface of module 102, such as click compiling deployment module 102 are corresponding visual
Change virtual program packet provided by interface and dispose button, so that trigger packet Disposition Instructions, are deployed to ROS machine for program bag
Device people.
It should be noted that if can also be compiled on host, and hold without ROS robot entity
Program bag after row compiling, observes program bag operational process.
Or the compiling deployment module 102, for receiving the source code Disposition Instructions of user's triggering, according to the source
The source code is deployed to ROS robot by code Disposition Instructions, and when the second compiling instruction for receiving user's triggering
Afterwards, the source code for being deployed to the ROS robot is compiled to generate described program packet；It is appreciated that in addition to inciting somebody to action
Program bag after compiling is deployed to outside ROS robot, can also be directly by the direct portion of source code using compiling deployment module 102
In administration to ROS robot, specifically, user can carry out deployment behaviour on the compiling corresponding visualization interface of deployment module 102
Make, such as click source code provided by the compiling corresponding visualization interface of deployment module 102 and dispose button, thus trigger source generation
Code Disposition Instructions, are deployed to ROS robot for the source code.User can be corresponding in compiling deployment module 102 simultaneously
Compilation operations are carried out on visualization interface, such as are clicked virtual provided by the compiling corresponding visualization interface of deployment module 102
Button is compiled, thus triggering the second compiling instruction, to be compiled the source code for being deployed to the ROS robot with life
At described program packet.In actual development debugging, one of which can be selected to be disposed from above two deployment way.Its
In, the mode for having selected program bag directly to dispose does not need then to execute compiling work in target ROS robot.This sample loading mode
Benefit be that Duo Tai ROS robot needs to be implemented identical work, do not need to execute long-range volume again in every ROS robot
Translate work.
The compiling deployment module 102, the program bag for being also used to receive user's triggering executes instruction, according to program bag
It executes instruction the control ROS robot and executes described program packet, and be used for root after receiving the debugging instruction of the user
The ROS robot is debugged according to the debugging instruction.It is appreciated that the program bag that can also receive user's triggering executes
Instruction executes program bag to control ROS robot, and can be debugged according to the debugging instruction of user to ROS robot,
It realizes to the connection of target ROS robot remote and way of compiling control.It should be noted that wherein, if you do not need to ROS robot
It is debugged, Release editions program bags can be directly generated.As it can be seen that through the embodiment of the present invention son provided by ROS robot
Debugging apparatus can simplify complicated gdb debugging process, wherein passing through virtual push button and program bag, information input window
It is uniformly coordinated, one or more complex command is realized by virtual push button function, to reach simplified, optimize out
Debugging process is sent out, to reduce the workload of user, thus the side that complicated gdb debugging process is passed through visualization interface
Formula is simplified, and development efficiency is improved.
In a kind of possible realization, ROS robot debugging apparatus 10 further includes ROS robotic console module
103, showing in the displaying interface of ROS robot debugging apparatus has the ROS robotic console module 103 is corresponding can
Depending on changing interface；
Wherein, the ROS robotic console module 103, the control instruction triggered for receiving the user, and according to
The control instruction controls the relevant operation of the ROS robot, the relevant operation include at least it is following any one: show
ROS robot working creates task for the ROS robot and controls the ROS robot execution task.
It should be noted that the control instruction triggered by ROS robotic console module and user, available ROS robot
Instantaneous operating conditions, and the relevant data of real-time relevant operational state of ROS robot can be shown, such as map, laser, sound
, position, the data such as video image.Or the ROS robot creates task and controls the ROS robot and execute and appoints
Business, such as can control the movement of ROS robot, operation robotic arm grabs article, and the photo for capturing camera carries out deep learning
With vision SALM analysis etc..
In a kind of possible realization, ROS robot debugging apparatus 10 further includes algorithm management module 104, described
Show there is the corresponding visualization interface of the algorithm management module 104 in the displaying interface of ROS robot debugging apparatus；
The algorithm management module 104, for receiving the algorithms selection instruction of user's triggering, and according to the algorithm
Selection instruction determines the corresponding algorithm of the ROS robot, the algorithm include include at least it is following any one: positioning immediately
With map structuring SLAM algorithm, navigation algorithm, global path planning algorithm, local paths planning algorithm and location algorithm.
In a kind of possible realization, ROS robot debugging apparatus 10 further includes parameter configuration module 105, described
Show there is the corresponding visualization interface of the parameter configuration module 105 in the displaying interface of ROS robot debugging apparatus；
The parameter configuration module 105, the parameter configuration instruction configuration various parameters for being triggered according to the user.
In a kind of possible realization, ROS robot debugging apparatus 10 further includes integrated plugin module 106, described
Show there is the corresponding visualization interface of the integrated plugin module 106 in the displaying interface of ROS robot debugging apparatus, wherein
The integrated plugin module 106 be integrated with various visualization plug-in units and in the corresponding visualization interface of the integrated plugin module into
Row is shown.It should be noted that be integrated with associated visualization plug-in unit in ROS robot debugging apparatus 10, conveniently and efficiently basis
User demand carries out algorithm analysis and data analysis.Most important one tool is: (present invention is implemented map dynamic observation tool
Example is known as Rviz).ROS robot debugging apparatus provides very powerful graphical simulated environment RViz, can be with using RViz
To ROS robot, to map dynamic is observed during track search.And ROS machine can be simulated according to acquired data
The input of device people.
In a kind of possible realization, ROS robot debugging apparatus 10 further includes device management module 107, described
Show there is the corresponding visualization interface of the device management module 107 in the displaying interface of ROS robot debugging apparatus；
The device management module 107, for managing the relevant information of multiple ROS robots, the relevant information includes
ROS robot device information and link information, the multiple ROS machine artificially with carry ROS robot debugging apparatus
The ROS robot that is communicatively coupled of host.
As shown in figure 3, correspondence is implemented in invention provides a kind of ROS robot adjustment method, it is applied to operation just like right
It is required that described method includes following steps in the host of the described in any item ROS robot debugging apparatus of 1-5:
S101: the host obtains source code by source code editor module；
S102: the host receives the first compiling instruction that the user triggers, and root by compiling deployment module
The source code is compiled according to the first compiling instruction to generate program bag, and when the journey for receiving user's triggering
After sequence packet Disposition Instructions, described program packet is deployed to the ROS robot；
Or the host receives the source code that the user triggers by the compiling deployment module and disposes, according to institute
It states source code Disposition Instructions and the source code is deployed to ROS robot, and work as and institute is received by the compiling deployment module
After the second compiling instruction for stating user's triggering, the source code for being deployed to the ROS robot is compiled to generate
State program bag；
S103: the host is also referred to by the program bag execution that the compiling deployment module receives user's triggering
It enables, the control ROS robot is executed instruction according to described program packet and executes described program packet, and is worked as through compiling deployment module
After the debugging instruction for receiving the user, according to the debugging instruction according to the debugging instruction to the ROS robot into
Row debugging.
In a kind of possible realization, the method also includes:
The host receives the control instruction of user triggering by ROS robotic console module, and according to
The control instruction controls the relevant operation of the ROS robot, the relevant operation include at least it is following any one: show
ROS robot working creates task for the ROS robot and controls the ROS robot execution task.
In a kind of possible realization, the method also includes:
The host is instructed by the algorithms selection that algorithm management module receives user's triggering, and according to described
Algorithms selection instruction determines the corresponding algorithm of the ROS robot, the algorithm include include at least it is following any one: immediately
Positioning and map structuring SLAM algorithm, navigation algorithm, global path planning algorithm, local paths planning algorithm and location algorithm.
It is further to note that the embodiment of the invention also provides a kind of computer program product, the computer program
When product is executed by computer equipment, the step of host in ROS robot adjustment method in the embodiment of the present invention may be implemented
Rapid or function.
Fig. 4 is the hardware structural diagram of computer equipment provided by the embodiments of the present application, which can be used for
Realize the function of above-mentioned host, which includes: one or more processors 401 and memory 402.Fig. 4
In for one.Wherein, processor 401 and memory 402 can be connected by bus or other modes, in Fig. 5 with
For being connected by bus.
Memory 402 is used as a kind of non-volatile computer readable storage medium storing program for executing, can be used for storing non-volatile software journey
Sequence, non-volatile computer executable program and module, as ROS robot debugging apparatus 1 is corresponding in the embodiment of the present invention
Program instruction/module.Non-volatile software program, instruction and the mould that processor 401 is stored in memory 402 by operation
Block, thus the various function application and data processing of host.
Memory 402 may include storing program area and storage data area, wherein storing program area can store operation system
Application program required for system, at least one function；It storage data area can source code acquired in reservoir host's host, order
Deng.In addition, memory 402 may include high-speed random access memory, it can also include nonvolatile memory, for example, at least
One disk memory, flush memory device or other non-volatile solid state memory parts.In some embodiments, memory 402
Optional includes the memory remotely located relative to processor 401.The example of above-mentioned network includes but is not limited to internet, enterprise
Intranet, local area network, mobile radio communication and combinations thereof.
System or method provided by the embodiment of the present application can be performed in above-mentioned computer equipment, has and executes the system or side
The corresponding functional module of method and beneficial effect.The not technical detail of detailed description in the present embodiment, reference can be made to the application is implemented
The method of anti-replay-attack provided by example, does not repeat to repeat here.
Also, system embodiment described above is only schematical, wherein it is described as illustrated by the separation member
Unit may or may not be physically separated, and component shown as a unit may or may not be object
Manage unit, it can it is in one place, or may be distributed over multiple network units.It can select according to the actual needs
Some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.
Through the above description of the embodiments, those of ordinary skill in the art can be understood that each embodiment
The mode of general hardware platform can be added to realize by software, naturally it is also possible to pass through hardware.Based on this understanding, of the invention
Technical solution substantially all or part of the part that contributes to existing technology or the technical solution can be in other words
It is expressed in the form of software products, which is stored in a storage medium, including some instructions are used
So that a computer equipment (can be personal computer, server or the network equipment etc.) executes each reality of the present invention
Apply all or part of the steps of the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory
(read-only memory, ROM), random access memory (random access memory, rAM), magnetic or disk
Etc. the various media that can store program code.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, the range for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of ROS robot debugging apparatus, which is characterized in that ROS robot debugging apparatus includes source code editor's mould
Block and compiling deployment module, show in the displaying interface of ROS robot debugging apparatus have the source code editor module and
Compile the corresponding visualization interface of deployment module；
The source code editor module, for obtaining source code according to the edit operation of user；
The compiling deployment module refers to for receiving the first compiling instruction of user's triggering, and according to first compiling
Order is compiled the source code to generate program bag, and after receiving the program bag Disposition Instructions of user's triggering,
Described program packet is deployed to the ROS robot；
Or the compiling deployment module, for receiving the source code Disposition Instructions of user's triggering, according to the source code portion
The source code is deployed to ROS robot by administration's instruction, and after receiving the second compiling instruction of user's triggering, to portion
It affixes one's name to the source code of the ROS robot and is compiled to generate described program packet；
The compiling deployment module, the program bag for being also used to receive user's triggering execute instruction, are referred to according to program bag execution
It enables and controls the ROS robot execution described program packet, and be used for after receiving the debugging instruction of the user, according to described
Debugging instruction debugs the ROS robot.
2. according to right want 1 described in ROS robot debugging apparatus, which is characterized in that ROS robot debugging apparatus also wraps
ROS robotic console module is included, shows there is ROS robot control in the displaying interface of ROS robot debugging apparatus
The corresponding visualization interface of platform module processed；
Wherein, the ROS robotic console module, for receiving the control instruction of user's triggering, and according to the control
System instruction controls the relevant operation of the ROS robot, the relevant operation include at least it is following any one: described in displaying
ROS robot working creates task for the ROS robot and controls the ROS robot execution task.
3. according to right want 2 described in ROS robot debugging apparatus, which is characterized in that ROS robot debugging apparatus also wraps
Algorithm management module is included, shows have the algorithm management module corresponding in the displaying interface of ROS robot debugging apparatus
Visualization interface；
The algorithm management module for receiving the algorithms selection instruction of user's triggering, and refers to according to the algorithms selection
Enable and determine the corresponding algorithm of the ROS robot, the algorithm include include at least it is following any one: positioning and map immediately
Construct SLAM algorithm, navigation algorithm, global path planning algorithm, local paths planning algorithm and location algorithm.
4. ROS robot according to claim 3 debugging apparatus, which is characterized in that ROS robot debugging apparatus also wraps
Parameter configuration module is included, shows have the parameter configuration module corresponding in the displaying interface of ROS robot debugging apparatus
Visualization interface；
The parameter configuration module, the parameter configuration instruction configuration various parameters for being triggered according to the user.
5. according to right want 4 described in ROS robot debugging apparatus, which is characterized in that ROS robot debugging apparatus also wraps
Integrated plugin module is included, shows have the integrated plugin module corresponding in the displaying interface of ROS robot debugging apparatus
Visualization interface, wherein the integrated plugin module is integrated with various visualization plug-in units and corresponds in the integrated plugin module
Visualization interface be shown.
6. according to right want 5 described in ROS robot debugging apparatus, which is characterized in that ROS robot debugging apparatus also wraps
Device management module is included, shows have the device management module corresponding in the displaying interface of ROS robot debugging apparatus
Visualization interface；
The device management module, for managing the relevant information of multiple ROS robots, the relevant information includes ROS machine
People's facility information and link information, the multiple ROS machine artificially with the host master that carries ROS robot debugging apparatus
The ROS robot that machine is communicatively coupled.
7. a kind of ROS robot adjustment method has ROS robot as described in any one in claim 1-5 tune applied to operation
In the host that trial assembly is set, which is characterized in that the described method includes:
The host obtains source code by source code editor module；
The first compiling that the host receives user's triggering by compiling deployment module instructs, and according to described first
Compiling instruction is compiled the source code to generate program bag, and when the program bag deployment for receiving user's triggering refers to
After order, described program packet is deployed to the ROS robot；
Or the host receives the source code Disposition Instructions that the user triggers by the compiling deployment module, according to institute
It states source code Disposition Instructions and the source code is deployed to ROS robot, and work as and institute is received by the compiling deployment module
After the second compiling instruction for stating user's triggering, the source code for being deployed to the ROS robot is compiled to generate
State program bag；
The host is also executed instruction by the program bag that the compiling deployment module receives user's triggering, according to institute
It states program bag and executes instruction the control ROS robot execution described program packet, and work as and receive institute by compiling deployment module
After the debugging instruction for stating user, the ROS robot is debugged according to the debugging instruction according to the debugging instruction.
8. ROS robot according to claim 7 adjustment method, which is characterized in that the method also includes:
The host receives the control instruction of user's triggering by ROS robotic console module, and according to described
Control instruction controls the relevant operation of the ROS robot, the relevant operation include at least it is following any one: described in displaying
ROS robot working creates task for the ROS robot and controls the ROS robot execution task.
9. a kind of computer equipment, which is characterized in that the computer equipment includes memory and at least one processor, institute
Memory is stated to be connected to the processor；The memory is stored with can the computer performed by least one described processor
Program, the computer program are able to carry out as described in claim any one of 6-8 when being executed by least one described processor
Method.
10. a kind of computer program product, which is characterized in that the computer program product is able to achieve perform claim and requires 6-8
The function that any one method is realized.
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