基于ROS平台的Modbus/RTU通信研究及实现

Research and Implementation of Modbus/RTU Communication Based on ROS Platform

研究了针对于ROS系统下和底层运动控制系统进行通信的一种方法。基于传统的Modbus/RTU通信协议进行改进,完成了将ROS系统下的话题消息数据发送到运动控制底层的任务,这样可以避免必须选择支持ROS的底层硬件平台。ROS是一个广泛应用于机器人以及无人驾驶技术的分布式框架,在ROS系统下实现通信对我国无人驾驶技术的发展具有推动作用。

This paper studies a method for communication with the underlying motion control system under the ROS system.It makes improvements based on the traditional Modbus/RTU communication protocol and completes the task of sending topic message data under the ROS system to the underlying motion control system that can avoid having to choose the underlying hardware platform that supports ROS.ROS is a distributed framework widely used in robots and autonomous driving technologies.The realization of communication under the ROS system can promote the development of autonomous driving technology in our country.