CN115473863B - Message bridging method and system for ROS and IROS - Google Patents
Message bridging method and system for ROS and IROS Download PDFInfo
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- CN115473863B CN115473863B CN202210884190.2A CN202210884190A CN115473863B CN 115473863 B CN115473863 B CN 115473863B CN 202210884190 A CN202210884190 A CN 202210884190A CN 115473863 B CN115473863 B CN 115473863B
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- 238000000034 method Methods 0.000 title claims abstract description 23
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- 230000008569 process Effects 0.000 claims abstract description 7
- 238000012795 verification Methods 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 8
- 230000002159 abnormal effect Effects 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 2
- 238000011161 development Methods 0.000 abstract description 3
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L51/00—User-to-user messaging in packet-switching networks, transmitted according to store-and-forward or real-time protocols, e.g. e-mail
- H04L51/06—Message adaptation to terminal or network requirements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/50—Queue scheduling
- H04L47/62—Queue scheduling characterised by scheduling criteria
- H04L47/622—Queue service order
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L51/00—User-to-user messaging in packet-switching networks, transmitted according to store-and-forward or real-time protocols, e.g. e-mail
- H04L51/06—Message adaptation to terminal or network requirements
- H04L51/066—Format adaptation, e.g. format conversion or compression
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Abstract
The invention relates to the technical field of message subscription and release, in particular to a message bridging method and a system of ROS and IROS, comprising the following steps: checking the running states of ROS and IROS operating systems; creating two working threads to respectively process subscription and release services of ROS and IROS; establishing corresponding publisher and subscriber lists according to the message queue list; checking the data format of the message data, and publishing the message data to a corresponding system through a corresponding publisher; the beneficial effects are as follows: the message bridging method and the system of the ROS and the IROS provided by the invention realize direct message communication between the ROS and the IROS operating system, and solve the problem that communication between the ROS and the IROS operating system is impossible due to a communication mechanism. The upper layer application software can realize the subsection compiling and migration through the topicbridge, and the working efficiency of development and testing personnel is greatly improved.
Description
Technical Field
The invention relates to the technical field of message subscription and release, in particular to a message bridging method and a system of ROS and IROS.
Background
ROS (Robot Operating System, robot operating system, hereinafter referred to as ROS) is a popular robot operating system nowadays, but it has many drawbacks, such as the overall system has a strong dependence on master nodes, low data transceiving performance, and low data security, which results in a slow promotion in the industrial field.
In the prior art, the IROS (Intelligent Robot OS, intelligent robot operating system, abbreviated as IROS hereinafter) operating system which is currently being developed effectively solves the problems of ROS, and the stability and the real-time security of the IROS are superior to the ROS.
However, for an upper application based on an ROS or an IROS operating system, there may be multiple messages and originate from different executable programs, and due to the difference between the ROS and IROS operating system communication mechanisms, when the ROS migrates the upper application to the IROS operating system, we can only migrate all applications to the IROS operating system, and then test and run, and this way is very troublesome for migration due to the number of messages and other factors.
Disclosure of Invention
The invention aims to provide a message bridging method and a system for ROS and IROS, and aims to establish a message channel between ROS and an IROS operating system, solve the problem that upper-layer applications cannot be transferred and tested in a subsection way when being transferred from ROS to the IROS operating system, and effectively improve the working efficiency of IROS development and testers.
In order to achieve the above purpose, the present invention provides the following technical solutions: a method of message bridging of ROS to IROS, the method of message bridging of ROS to IROS comprising:
checking the running states of ROS and IROS operating systems;
creating two working threads to respectively process subscription and release services of ROS and IROS;
establishing corresponding publisher and subscriber lists according to the message queue list;
and carrying out data format verification on the message data, and publishing the message data to a corresponding system through a corresponding publisher.
Preferably, when checking the running states of the ROS and IROS operating systems, the topicbridge first checks the running states of the ROS and IROS operating systems, and if there is an abnormal state, it will wait in this loop until both systems are running normally.
Preferably, when two worker threads are created, after the ROS and IROS operating systems are running normally, the topicbridge creates two worker threads to process the subscription and release services of the ROS and IROS respectively.
Preferably, the ROS thread queries a message queue list in the ROS, creates a ROS message subscriber and a message publisher of the IROS party according to topic names, calls a subscription interface, and monitors the corresponding message queue state; correspondingly, the IROS thread queries a message queue list in the IROS, creates an IROS message subscriber and a message publisher of the ROS according to the topic name, calls a subscription interface, and monitors the corresponding message queue state.
Preferably, when the subscriber of the ROS thread detects that a new message arrives in the message queue, a subscriber callback function is entered, and after the data format is checked successfully, the message is published into an IROS system through an IROS publisher in the current thread; similarly, when the subscriber of the IROS thread detects that a new message arrives in the message queue, the new message enters a subscriber callback function, and after the data format is checked successfully, the message is published into the ROS system through the ROS publisher in the current thread;
after the message release is finished, the respective message queues are continuously monitored, and thus, the direct communication between the ROS and the IROS operation system message is finished.
The system is composed of a state detection module, a thread creation module, a list creation module and a verification and release module;
the state detection module is used for checking the running states of the ROS and IROS operating systems;
the thread creation module is used for creating two working threads and respectively processing the subscription and release services of the ROS and the IROS;
the list creation module is used for creating corresponding publisher and subscriber lists according to the message queue list;
and the verification and release module is used for verifying the data format of the message data and releasing the message data to a corresponding system through a corresponding publisher.
Preferably, the status detection module is used for the topicbridge to check the running status of the ROS and IROS operating systems first, and if the running status is abnormal, the running status is circulated and waited until the two systems run normally.
Preferably, after the thread creation module is used for running the ROS and the IROS operating system normally, the topicbridge creates two working threads to respectively process subscription and release services of the ROS and the IROS.
Preferably, the list creation module is used for the ROS thread to inquire a message queue list in the ROS, creates a ROS message subscriber and a message publisher of the IROS party according to topic names, calls a subscription interface and monitors the state of the corresponding message queue; correspondingly, the IROS thread queries a message queue list in the IROS, creates an IROS message subscriber and a message publisher of the ROS according to the topic name, calls a subscription interface, and monitors the corresponding message queue state.
Preferably, the verification and release module is used for entering a subscriber callback function when a subscriber of the ROS thread detects that a new message arrives in a message queue, and releasing the message into an IROS system through an IROS publisher in the current thread after the data format is successfully verified; similarly, when the subscriber of the IROS thread detects that a new message arrives in the message queue, the new message enters a subscriber callback function, and after the data format is checked successfully, the message is published into the ROS system through the ROS publisher in the current thread;
after the message release is finished, the respective message queues are continuously monitored, and thus, the direct communication between the ROS and the IROS operation system message is finished.
Compared with the prior art, the invention has the beneficial effects that:
the message bridging method and the system of the ROS and the IROS provided by the invention realize direct message communication between the ROS and the IROS operating system, and solve the problem that communication between the ROS and the IROS operating system is impossible due to a communication mechanism. The upper layer application software can realize the subsection compiling and migration through the topicbridge, and the working efficiency of development and testing personnel is greatly improved.
Drawings
FIG. 1 is a flow chart of the topicbridge function of the present invention;
FIG. 2 is a functional diagram of the topicbridge of the present invention.
Detailed Description
In order to make the objects, technical solutions, and advantages of the present invention more apparent, the embodiments of the present invention will be further described in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are some, but not all, embodiments of the present invention, are intended to be illustrative only and not limiting of the embodiments of the present invention, and that all other embodiments obtained by persons of ordinary skill in the art without making any inventive effort are within the scope of the present invention.
In the description of the present invention, it should be noted that the terms "center," "middle," "upper," "lower," "left," "right," "inner," "outer," "top," "bottom," "side," "vertical," "horizontal," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "a," an, "" the first, "" the second, "" the third, "" the fourth, "" the fifth, "and the sixth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
For purposes of brevity and description, the principles of the embodiments are described primarily by reference to examples. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the embodiments. It will be apparent, however, to one of ordinary skill in the art that the embodiments may be practiced without limitation to these specific details. In some instances, well-known methods and structures have not been described in detail so as not to unnecessarily obscure the embodiments. In addition, all embodiments may be used in combination with each other.
Referring to fig. 1 to 2, the present invention provides a technical solution: a method of message bridging of ROS to IROS, the method of message bridging of ROS to IROS comprising:
checking the running states of the ROS and IROS operating systems, and checking the running states of the ROS and IROS operating systems by a topicbridge first, and if the running states are abnormal, waiting in a circulating way until the two systems run normally;
creating two working threads, respectively processing the subscription and release services of the ROS and the IROS, wherein after the ROS and the IROS operate normally, the topicbridge creates the two working threads, respectively processing the subscription and release services of the ROS and the IROS;
the ROS thread queries a message queue list in the ROS, creates a ROS message subscriber and a message publisher of the IROS party according to topic names, calls a subscription interface and monitors the corresponding message queue state; correspondingly, the IROS thread queries a message queue list in the IROS, creates an IROS message subscriber and a message publisher of the ROS according to topic names, calls a subscription interface, and monitors the corresponding message queue state;
the method comprises the steps of performing data format verification on message data, publishing the message data to a corresponding system through a corresponding publisher, entering a subscriber callback function when a subscriber of an ROS thread detects that a new message arrives in a message queue, and publishing the message to an IROS system through an IROS publisher in a current thread after the data format verification is successful; similarly, when the subscriber of the IROS thread detects that a new message arrives in the message queue, the new message enters a subscriber callback function, and after the data format is checked successfully, the message is published into the ROS system through the ROS publisher in the current thread;
after the message release is finished, the respective message queues are continuously monitored, and thus, the direct communication between the ROS and the IROS operation system message is finished.
The system is composed of a state detection module, a thread creation module, a list creation module and a verification and release module;
the state detection module is used for checking the running states of the ROS and the IROS operating systems, and the topicbridge can check the running states of the ROS and the IROS operating systems at first, and if the running states are abnormal, the running states can be cycled and waited until the two systems run normally;
the thread creation module is used for creating two working threads and respectively processing the subscribing and publishing services of the ROS and the IROS, and after the ROS and the IROS operate normally, the topicbridge creates the two working threads and respectively processes the subscribing and publishing services of the ROS and the IROS;
the list creation module is used for creating a ROS message subscriber and a message publisher of the IROS party according to topic names, calling a subscription interface and monitoring the state of a corresponding message queue; correspondingly, the IROS thread queries a message queue list in the IROS, creates an IROS message subscriber and a message publisher of the ROS according to topic names, calls a subscription interface, and monitors the corresponding message queue state;
the verification and release module is used for verifying the data format of the message data, releasing the message data to a corresponding system through a corresponding publisher, entering a subscriber callback function when a subscriber of the ROS thread detects that a new message arrives in a message queue, and releasing the message to an IROS system through an IROS publisher in the current thread after the data format is successfully verified; similarly, when the subscriber of the IROS thread detects that a new message arrives in the message queue, the new message enters a subscriber callback function, and after the data format is checked successfully, the message is published into the ROS system through the ROS publisher in the current thread;
after the message release is finished, the respective message queues are continuously monitored, and thus, the direct communication between the ROS and the IROS operation system message is finished.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (2)
1. A method for bridging a ROS message with an IROS message, characterized by: the message bridging method of the ROS and the IROS comprises the following steps:
checking the running states of ROS and IROS operating systems;
creating two working threads to respectively process subscription and release services of ROS and IROS;
establishing corresponding publisher and subscriber lists according to the message queue list;
checking the data format of the message data, and publishing the message data to a corresponding system through a corresponding publisher;
when checking the running states of the ROS and IROS operating systems, the topicbridge firstly checks the running states of the ROS and IROS operating systems, and if the running states are abnormal, the running states are circulated and waited until the two systems run normally;
when two working threads are created, after the ROS and the IROS operating systems are operated normally, the topicbridge creates the two working threads, and respectively processes subscription and release services of the ROS and the IROS;
the ROS thread queries a message queue list in the ROS, creates a ROS message subscriber and a message publisher of the IROS party according to topic names, calls a subscription interface and monitors the corresponding message queue state; correspondingly, the IROS thread queries a message queue list in the IROS, creates an IROS message subscriber and a message publisher of the ROS according to topic names, calls a subscription interface, and monitors the corresponding message queue state;
when a subscriber of the ROS thread detects that a new message arrives in a message queue, a subscriber callback function is entered, and after the data format is checked successfully, the message is published into an IROS system through an IROS publisher in the current thread; similarly, when the subscriber of the IROS thread detects that a new message arrives in the message queue, the new message enters a subscriber callback function, and after the data format is checked successfully, the message is published into the ROS system through the ROS publisher in the current thread;
after the message release is finished, the respective message queues are continuously monitored, and thus, the direct communication between the ROS and the IROS operation system message is finished.
2. A system using the ROS and IROS message bridging method of claim 1, wherein: the system comprises a state detection module, a thread creation module, a list creation module and a verification and release module;
the state detection module is used for checking the running states of the ROS and IROS operating systems;
the thread creation module is used for creating two working threads and respectively processing the subscription and release services of the ROS and the IROS;
the list creation module is used for creating corresponding publisher and subscriber lists according to the message queue list;
the verification and release module is used for verifying the data format of the message data and releasing the message data to a corresponding system through a corresponding publisher;
the state detection module is used for checking the running states of the ROS and the IROS operating systems at first, and if the running states are abnormal, the running states are circulated and waited until the two systems normally run;
the thread creation module is used for creating two working threads after the ROS and the IROS operating systems are operated normally, and respectively processing subscription and release services of the ROS and the IROS;
the list creation module is used for inquiring a message queue list in the ROS by the ROS thread, creating a ROS message subscriber and a message publisher of the IROS party according to topic names, calling a subscription interface and monitoring the corresponding message queue state; correspondingly, the IROS thread queries a message queue list in the IROS, creates an IROS message subscriber and a message publisher of the ROS according to topic names, calls a subscription interface, and monitors the corresponding message queue state;
the checking and publishing module is used for entering a subscriber callback function when a subscriber of the ROS thread detects that a new message arrives in a message queue, and publishing the message to an IROS system through an IROS publisher in the current thread after the data format is checked successfully; similarly, when the subscriber of the IROS thread detects that a new message arrives in the message queue, the new message enters a subscriber callback function, and after the data format is checked successfully, the message is published into the ROS system through the ROS publisher in the current thread;
after the message release is finished, the respective message queues are continuously monitored, and thus, the direct communication between the ROS and the IROS operation system message is finished.
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