CN109525660B - Method and system for publishing, subscribing and registering ROS message - Google Patents
Method and system for publishing, subscribing and registering ROS message Download PDFInfo
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- CN109525660B CN109525660B CN201811350153.3A CN201811350153A CN109525660B CN 109525660 B CN109525660 B CN 109525660B CN 201811350153 A CN201811350153 A CN 201811350153A CN 109525660 B CN109525660 B CN 109525660B
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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
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- H04L65/00—Network arrangements, protocols or services for supporting real-time applications in data packet communication
- H04L65/1066—Session management
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- H—ELECTRICITY
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- 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
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Abstract
The invention discloses a method and a system for publishing, subscribing and registering ROS messages. When the ROS node sends out a message registration or subscription request, the method firstly refers to a first configuration file stored locally, if the first message configuration file contains the message registration or subscription request, the completion is directly returned, otherwise, the message registration or subscription request is sent to the node manager. When the node manager is initialized, the local proxy refers to the second configuration file stored locally, and sends a message registration or subscription request to the local node manager according to the message registration or subscription request contained in the second configuration file, so that the problem that the registration message or subscription message fails due to network problems when the system initializes the registration message or subscription message is avoided, and meanwhile, the network transmission overhead during message registration and subscription is reduced.
Description
Technical Field
The invention relates to ROS message registration, publication and 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 publish-subscribe communications 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 publish data to other nodes, the node first needs to request a node manager to register a message of a specific topic, and after the node manager receives the registration request, the node becomes a publisher of the topic message. When the node issues 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 publish-subscribe communication framework separates the data producer from the 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 condition of transmission distance, interference and shielding between unmanned aerial vehicles, the communication quality is relatively poor, and the unmanned aerial vehicle node initiates message registration and subscription to fail easily. On the other hand, some messages of the drones, such as video data published by the drone carrying the camera, may be predicted to subscribe to 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 real-time manner without an online message registration subscription mode, 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 registration subscription is easy to fail, and the transmission bandwidth of the directed message registration subscription is reduced.
In order to solve the problems, the invention adopts the following scheme:
the method for releasing and subscribing registration of the ROS message comprises a node message releasing and registering agent step, a node message subscribing and registering agent step and a manager initializing agent step;
the node message issuing and registering agent step: when an ROS node sends out a message issuing registration request, a first configuration file stored locally is consulted firstly; if the first configuration file contains the message publishing and registering request, directly returning to complete the message publishing and registering, otherwise, sending the message publishing and registering request to the node manager;
the node message subscription registration agent step: when an ROS node sends out a message subscription registration request, a first configuration file stored locally is consulted firstly; if the first 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 initializing agent step: when the node manager is initialized, a second configuration file stored locally is consulted, message publishing registration is initiated to the node manager according to a message publishing registration request contained in the second configuration file, and message subscribing registration is initiated to the node manager according to a message subscribing registration request contained in the second configuration file;
the second configuration file comprises the message publishing registration request and the message subscribing registration request in the first configuration file.
Further, according to the ROS message publishing and subscribing registration method of the present invention, the node message publishing registration agent step and the node message subscribing registration agent step are implemented by the node local agent module:
when the ROS node sends out a message publishing registration request, the message publishing registration request is sent to the node local proxy module; after receiving a message publishing and registering request sent by a local ROS node, the node local proxy module refers to a first configuration file stored locally, if the first configuration file contains the message publishing and registering request, the node local proxy module directly returns to the local ROS node to complete message publishing and registering, otherwise, the node local proxy module sends the message publishing and registering request to a node manager;
when the ROS node sends out a message subscription registration request, the message subscription registration request is sent to the node local proxy module; the node local proxy module refers to a first configuration file stored locally after receiving a message subscription registration request sent by a local ROS node, if the first configuration file contains the message subscription registration request, the node local proxy module directly returns to the local ROS node to complete message subscription registration, otherwise, the node local proxy module sends the message subscription registration request to a node manager.
Further, according to the ROS message publishing and subscription registration method of the present invention, the manager initialization proxy step is implemented by a manager local proxy module; during initialization, the manager local proxy module refers to a second configuration file stored locally, initiates message publishing registration to the node manager according to a message publishing registration request contained in the second configuration file, and initiates message subscribing registration to the node manager according to a message subscribing registration request contained in the second configuration file.
A system for ROS message registration according to the present invention, the system includes a node local agent module and a manager local agent module;
the node home agent module is to: after receiving a message issuing and registering request sent by a local ROS node, looking up a first configuration file stored locally, if the first configuration file contains the message issuing and registering request, directly returning to the local ROS node to finish message issuing and registering, otherwise, sending the message issuing and registering request to a node manager; after receiving a message subscription registration request sent by a local ROS node, looking up a first configuration file stored locally, if the first configuration file contains the message subscription registration request, directly returning to the local ROS node to complete message subscription registration, otherwise, sending the message subscription registration request to a node manager;
the manager local agent module is to: during initialization, initiating message publishing registration to the node manager according to the message publishing registration request contained in the second configuration file, and initiating message subscribing registration to the node manager according to the message subscribing registration request contained in the second configuration file;
the second configuration file comprises the message publishing registration request and the message subscribing registration request in the first configuration file.
The invention has the following technical effects: the invention writes the publisher and the subject of the oriented message, and the subscriber and the subject into the configuration file, and directly refers to the configuration file stored locally through the local agent when registering the message and subscribing the message, thereby reducing network transmission.
Drawings
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.
The present embodiment is a system for ROS message publish and subscribe registration. The system is comprised of a node manager physical device and a non-manager node physical device. When the system is applied to the unmanned aerial vehicle networking system, the non-manager node physical equipment is usually an unmanned aerial vehicle, and the node manager physical equipment can be an unmanned aerial vehicle or a ground workstation. The node manager physical device and the non-manager node physical device install the ROS system. In the ROS system, the node manager physical device and the non-manager node physical device are configured with at least one ROS node, and one of the ROS nodes of the node manager physical device is configured as an ROS master, which is a node manager, and the other ROS nodes are controlled by the node manager: when other ROS nodes need to release a specific message, a message for registering a specific theme needs to be released to a node manager in advance; when other ROS nodes need to receive a specific message, the node manager needs to be subscribed to register a message of a specific topic in advance. For ease of illustration, the non-manager node physical devices in this embodiment are logically separated into message publisher physical devices and message subscriber physical devices, as shown in FIG. 1. The ROS node 11 on the message publisher physical device needs to publish a specific message, is the provider of the specific message, and acts as the message publisher. The ROS node 11 on the physical device of the message subscriber needs to receive a specific message, is the recipient of the specific message, and acts as a message subscriber. Those skilled in the art understand that the ROS node, which acts as a publisher of a message, and the ROS node, which acts as a subscriber of a message, may be two different ROS nodes on the same physical device, and may also be ROS nodes on two different physical devices. The system for ROS message publish and subscribe registration of this embodiment comprises, in addition to the ROS node 11 and node manager 21 described above, a node home agent module 12 on the non-manager node physical device and a manager home agent module 22 on the node manager physical device. The manager local agent module 22 interacts with and corresponds to the node manager 21. The node local agent module 12 interacts with the ROS node 11. The plurality of ROS nodes 11 on the non-manager node physical device correspond to one node home agent module 12.
The node local agent module 12 acts as a proxy for the node manager 21, and particularly, when the ROS node 11, which is in the role of a message issuer, initiates a message issuance registration request, the request is not issued directly to the node manager 21, but the message issuance registration request is first issued to the node local agent module 12. When receiving the message issuing and registering request, the node local proxy module 12 refers to the first configuration file 13, and if the first configuration file 13 contains the message issuing and registering request, directly returns message issuing and registering success information to the ROS node 11, and if the first configuration file 13 does not contain the message issuing and registering request, the node local proxy module 12 issues the message issuing and registering request to the node manager 21, and then returns a result returned by the message issuing and registering request returned by the node manager 21 to the ROS node 11. The first configuration file 13 contains message publication registration requests directed to message publishers. Specifically, when the ROS node 11, which is in the role of a message subscriber, initiates a message subscription registration request, the request is not directly issued to the node manager 21, but a message subscription registration request is first issued to the node home agent module 12. When receiving the message subscription registration request, the node home agent module 12 refers to the first configuration file 13, and if the first configuration file 13 contains the message subscription registration request, directly returns message subscription registration success information to the ROS node 11, and if the first configuration file 13 does not contain the message subscription registration request, the node home agent module 12 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 11. The first profile 13 contains a number of message subscription registration requests directed to message subscribers.
When the ROS system on the node manager physical device 2 is initialized, the manager local proxy module 22 refers to the second configuration file 23 stored locally, sends a message publishing registration request to the node manager 21 according to the message publishing registration request included in the second configuration file 23, and sends a message subscribing registration request to the node manager 21 according to the message subscribing registration request included in the second configuration file 23.
The first configuration file 13 and the second configuration file 23 are both manually edited configuration files. Obviously, the second profile 23 needs to contain the message subscription registration request contained in the message publishing registration request contained in the first profile 13. Specifically, the second profile 23 on the node manager physical device is at least a collection of the first profiles 13 on the other ROS node physical devices of the ROS system.
Obviously, the message publish registration request and the message subscribe registration request include at least a message topic. Those skilled in the art will appreciate that the message publish registration request and the message subscribe registration request contained in the first configuration file 13 may differ from the message publish registration request and the message subscribe registration request information contained in the second configuration file 23. For example, in the message publishing registration request and the message subscribing registration request included in the first configuration file 13, the address information of the publisher and the subscriber may be implicit in the message publishing registration request and the message subscribing registration request issued by the ROS node 11, and the message publishing registration request and the message subscribing registration request included in the first configuration file 13 only need to list the message subject. The message publish registration request and the message subscribe registration request in the second configuration file 23 need to have corresponding publisher and subscriber address information.
Claims (4)
1. A method for ROS message publishing and subscribing registration is characterized in that the method comprises a node message publishing and registering agent step, a node message subscribing and registering agent step and a manager initializing agent step;
the node message issuing and registering agent step: when an ROS node sends out a message issuing registration request, a first configuration file stored locally is consulted firstly; if the first configuration file contains the message publishing and registering request, directly returning to complete the message publishing and registering, otherwise, sending the message publishing and registering request to the node manager;
the node message subscription registration agent step: when an ROS node sends out a message subscription registration request, a first configuration file stored locally is consulted firstly; if the first 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 initializing agent step: when the node manager is initialized, a second configuration file stored locally is consulted, message publishing registration is initiated to the node manager according to a message publishing registration request contained in the second configuration file, and message subscribing registration is initiated to the node manager according to a message subscribing registration request contained in the second configuration file;
the second configuration file comprises a message publishing registration request and a message subscribing registration request in the first configuration file;
the first configuration file and the second configuration file are both manually edited configuration files.
2. The method of ROS message publish and subscribe registration of claim 1, wherein said node message publish registration agent step and node message subscribe registration agent step are implemented by a node home agent module:
when the ROS node sends out a message publishing registration request, the message publishing registration request is sent to the node local proxy module; after receiving a message publishing and registering request sent by a local ROS node, the node local proxy module refers to a first configuration file stored locally, if the first configuration file contains the message publishing and registering request, the node local proxy module directly returns to the local ROS node to complete message publishing and registering, otherwise, the node local proxy module sends the message publishing and registering request to a node manager;
when the ROS node sends out a message subscription registration request, the message subscription registration request is sent to the node local proxy module; the node local proxy module refers to a first configuration file stored locally after receiving a message subscription registration request sent by a local ROS node, if the first configuration file contains the message subscription registration request, the node local proxy module directly returns to the local ROS node to complete message subscription registration, otherwise, the node local proxy module sends the message subscription registration request to a node manager.
3. The method of ROS message publish and subscribe registration of claim 1, wherein said manager initialization agent step is implemented by a manager local agent module; during initialization, the manager local proxy module refers to a second configuration file stored locally, initiates message publishing registration to the node manager according to a message publishing registration request contained in the second configuration file, and initiates message subscribing registration to the node manager according to a message subscribing registration request contained in the second configuration file.
4. A system for ROS message registration, the system comprising a node home agent module and a manager home agent module;
the node home agent module is to: after receiving a message issuing and registering request sent by a local ROS node, looking up a first configuration file stored locally, if the first configuration file contains the message issuing and registering request, directly returning to the local ROS node to finish message issuing and registering, otherwise, sending the message issuing and registering request to a node manager; after receiving a message subscription registration request sent by a local ROS node, looking up a first configuration file stored locally, if the first configuration file contains the message subscription registration request, directly returning to the local ROS node to complete message subscription registration, otherwise, sending the message subscription registration request to a node manager;
the manager local agent module is to: during initialization, initiating message publishing registration to the node manager according to the message publishing registration request contained in the second configuration file, and initiating message subscribing registration to the node manager according to the message subscribing registration request contained in the second configuration file;
the second configuration file comprises a message publishing registration request and a message subscribing registration request in the first configuration file;
the first configuration file and the second configuration file are both manually edited configuration files.
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| CN103873465A (en) * | 2014-03-04 | 2014-06-18 | 上海交通大学 | Cache method suitable for publish-subscribe system in mobile environment |
| CN105933444A (en) * | 2016-06-27 | 2016-09-07 | 焦点科技股份有限公司 | Service discovering method based on cooperation of registration center and caching mechanism |
| CN107589752A (en) * | 2017-07-25 | 2018-01-16 | 天津大学 | Unmanned plane cooperates with formation realization method and system with ground robot |
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| CN103873465A (en) * | 2014-03-04 | 2014-06-18 | 上海交通大学 | Cache method suitable for publish-subscribe system in mobile environment |
| CN105933444A (en) * | 2016-06-27 | 2016-09-07 | 焦点科技股份有限公司 | Service discovering method based on cooperation of registration center and caching mechanism |
| CN107589752A (en) * | 2017-07-25 | 2018-01-16 | 天津大学 | Unmanned plane cooperates with formation realization method and system with ground robot |
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