Information transmitting method and apparatus in robot operating system

Patent metadata

Field	Value
Publication number	US-10212236-B2
Application number	US-201715428972-A
Country	US
Kind code	B2
Filing date	Feb 9, 2017
Priority date	Aug 11, 2016
Publication date	Feb 19, 2019
Grant date	Feb 19, 2019

Abstract

The present disclosure provides an information transmitting method and apparatus for use in a robot operating system. A specific implementation mode of the method comprises: acquiring to-be-transmitted information; determining a network relationship between a current node and an information receiving node receiving the to-be-transmitted information, the network relationship comprising a remote relationship and a local relationship; determining a transmission approach of the to-be-transmitted information according to a message transmission parameter, a configuration parameter and the network relationship; transmitting the to-be-transmitted information in the transmission approach. The implementation mode improves the information transmission efficiency of the robot operating system.

First claim

What is claimed is:

1. A method for transmitting information in a robot operating system of an unmanned vehicle, the method comprising:
acquiring to-be-transmitted information;
determining a network relationship between a current node and an information receiving node receiving the to-be-transmitted information, the network relationship comprising a remote relationship and a local relationship;
determining a transmission approach of the to-be-transmitted information based on a message transmission parameter, a configuration parameter and the network relationship, wherein the transmission approach is at least one of the following: a network interface transmission approach and a local shared memory transmission approach; the message transmission parameter is determined by a node manager in the robot operating system based on the network relationship, and the configuration parameter is determined by the node manager of the robot operating system according to the message transmission parameter to set information storage area for the corresponding transmission approach, wherein the determining the transmission approach of the to-be-transmitted information according to the message transmission parameter, the configuration parameter and the network relationship comprises:
setting an information transmission buffer for the to-be-transmitted information through the configuration parameter, if the network relationship between the current node and the information receiving node receiving the to-be-transmitted information is the remote relationship; and determining the transmission approach of the to-be-transmitted information as the network interface transmission approach through the message transmission parameter, the network interface transmission approach being configured to transmit the to-be-transmitted information to the information receiving node through the network;
settle a shared memory for the to-be-transmitted information through the configuration parameter, if the network relationship between the current node and the information receiving node receiving the to-be-transmitted information is the local relationship; and determining the transmission approach of the to-be-transmitted information as the local shared memory transmission approach through the message transmission parameter, the shared memory being used for the current node to write the to-be-transmitted information and for the information receiving node to read the to-be-transmitted information, the local shared memory transmission approach being configured to implement information transmission with the information receiving node through the shared memory of the current node;

transmitting the to-be-transmitted information using the transmission approach.

2. The method according to claim 1 , wherein the determining the network relationship between the current node and the information receiving node receiving the to-be-transmitted information comprises:
transmitting a network relationship request, the network relationship request being configured to identify the network relationship between the current node and the information receiving node receiving the to-be-transmitted information;
receiving the network relationship information corresponding to the network relationship request, the network relationship information being configuredto characterize the network relationship between the current node and the information receiving node receiving the to-be-transmitted information.

3. The method according to claim 1 , wherein the transmitting the to-be-transmitted information in the transmission approach comprises:
buffering the to-be-transmitted information in the information transmission buffer area, if the transmission approach is the network interface transmission approach; transmitting the to-be-transmitted information in the information transmission buffer area to the information receiving node through a network corresponding to the network interface transmission approach;
buffering the to-be-transmitted information in the shared memory, if the transmission approach is the local shared memory transmission approach; and transmitting position information of the to-be-transmitted information on the shared memory to the node server.

4. The method according to claim 3 , wherein the buffering the to-be-transmitted information in the shared memory comprises:
setting a flag bit for the to-be-transmitted information in the shared memory, the flag bit being configured to record read state information of the to-be-transmitted information, information receiving node information of reading the to-be-transmitted information, and reading time of reading the to-be-transmitted information.

5. The method according to claim 1 , wherein the method further comprises: registering a current node to the robot operating system, and wherein the registering the current node to the robot operating system comprises:
transmitting node information of the current node, the node information being used to register the current node to the node server of the robot operating system, and the node information comprising an IP address, hardware and software information of the current node; and
receiving the message transmission parameter and the configuration parameter corresponding to the node information.

6. An information transmitting apparatus for use in a robot operating system of an unmanned vehicle; wherein the apparatus comprises:
at least one processor; and
a memory storing instructions, which when executed by the at least one processor, cause the at least one processor to perform operations, the operations comprising:
acquiring to-be-transmitted information;
determining a network relationship between a current node and an information receiving node receiving the to-be-transmitted information, the network relationship comprising a remote relationship and a local relationship;
determining a transmission approach of the to-be-transmitted information based on a message transmission parameter, a configuration parameter and the network relationship, wherein the transmission approach is at least one of the following: a network interface transmission approach and a local shared memory transmission approach, the message transmission parameter is determined by a node manager of the robot operating system based on the network relationship, and the configuration parameter is determined by the node manager of the robot operating system according to the message transmission parameter to set information storage area for the corresponding transmission approach, wherein determining a transmission approach of the to-be-transmitted information based on a message transmission parameter, a configuration parameter and the network relationship comprises:
when the network relationship between the current node and the information receiving node receiving the to-be-transmitted information is the remote relationship, setting an information transmission buffer area for the to-be-transmitted information through the configuration parameter, and determine the transmission approach of the to-be-transmitted information as a network interface transmission approach through the message transmission parameter, the network interface transmission approach being configured to transmit the to-be-transmitted information to the information receiving node through the network;
when the network relationship between the current node and the information receiving node receiving the to-be-transmitted information is the local relationship, setting a shared memory for the to-be-transmitted information through the configuration parameter, and determine the transmission approach of the to-be-transmitted information as a local shared memory transmission approach through the message transmission parameter, the shar

Assignees

• Beijing Baidu Netcom Sci & Tec

Inventors

• Wang Haifeng
• Xia Liming
• Feng Jingchao
• Wang Quan
• Qu Ning
• Chen Zhou

Classifications

• H04L45/02

  Topology update or discovery · CPC title

• B25J13/006

  by means of a wireless system for controlling one or several manipulators · CPC title

• G05D1/0022

  characterised by the communication link (data switching networks in general H04L12/00) · CPC title

• H04L67/125 Primary

  involving control of end-device applications over a network · CPC title

• G08C17/00

  Arrangements for transmitting signals characterised by the use of a wireless electrical link · CPC title