Research And Implementation Of RT-Smart Communication Middleware For ROS2

Communication middleware is a communication software architecture for coordinating and managing the intercommunication between various components in a distributed system.At present,ROS2 does not support running on the RT-Smart operating system,and the communication problem is the key problem.Based on the communication mechanism of ROS2,this paper focuses on the research of DDS communication middleware technology,constructs a middleware architecture for ROS2 communication on RT-Smart,and combines the structural characteristics of RT-Smart operating system to realize the communication middleware running on RT-Smart.The main research contents are as follows:Aiming at the problems of poor data exchange reliability and low efficiency when ROS2 nodes communicate on RT-Smart,the QoS strategy of communication middleware and the realization of external software interface layer are studied.Combined with the DDS communication specification,the quality of service strategy is encapsulated to ensure the quality of data transmission and improve the reliability of data transmission;according to the interface functions of each communication entity,it is standardized and converted to improve the efficiency of data exchange between nodes and enhance the interaction between applications and middleware modules.Aiming at the problems of low real-time data sending and receiving and poor flexibility when ROS2 nodes communicate on RT-Smart,the implementation of each module of the communication middleware DCPS layer and the communication adaptation layer is studied.Based on the DCPS model mechanism,analyze the information configuration of each communication entity,build the core module of the DCPS layer,and improve the real-time performance of data transmission;combine commonly used communication protocols,encapsulate it,shield the underlying cumbersome protocol details,and realize multi-protocol data transmission,to enhance the flexibility of data interaction.Aiming at the problem that the code logic of the communication middleware does not match the kernel architecture of the underlying RT-Smart operating system,the method of running the communication middleware on the RT-Smart operating system is studied.The architecture characteristics of the RT-Smart operating system are analyzed,and the communication middleware can be run on the RT-Smart operating system by crosscompiling the code packages and related link libraries of the communication middleware by building a cross-compilation environment.