Android与ROS交互通信的可靠性设计

RELIABILITY DESIGN OF INTERACTIVE COMMUNICATION BETWEEN ANDROID AND ROS

目前,Google和Willow Garage已经为Android系统构建ROS(Robot Operating System)环境提供了基于rosjava的应用功能包集合android_core,便于Android移动终端和ROS进行互联互通。然而,当前的通信机制不能保证Android应用对基于ROS的机器人进行可靠的远程控制。为解决上述问题,从ROS中的应用层和通信机制两方面对ROS进行完善。一是在ROS端TCP/IP协议的应用层设计通信异常检测模块"Check Node Connection"来进行Android移动终端的连接状态检测;二是在Android端设计与ROS中"ROS Action Protocol"相匹配的通信机制"Ros Action On Android"。实验结果表明,设计的通信异常检测模块"Check Node Connection"可以高效地检测Android与ROS间的连接状态。此外,"Ros Action On Android"通信机制可时刻获取ROS机器人在任务执行中的状态反馈信息并支持任务抢占,使得交互控制更加精准可靠。

At present,Google and Willow Garage have provided the rosjava based application function package collection android_core for the Android system to build the ROS(robot operating system)environment,which facilitates the connection between the Android mobile terminal and the ROS.However,current communication mechanisms do not guarantee reliable remote control of ROS-based robots by Android applications.In order to solve the above problems,this paper improved the ROS from the application layer and communication mechanism in ROS.One was to detect the connection state of Android mobile terminal via application layer design communication Anomaly detection module“CheckNodeConnection”at the TCP/IP protocol of the ROS end.Another was to design a“RosActionOnAndroid”communication mechanism that matches the“ROS Action Protocol”in the Android side.The experimental results showed that the communication abnormality detection module“CheckNodeConnection”designed in this paper effectively detected the connection state between Android and ROS.In addition,the“RosActionOnAndroid”communication mechanism could always obtain the status feedback information of the ROS robot in the task execution and support the task preemption,so that the interactive control was more accurate and reliable.