Research On ROS2 Software Architecture Support Extension Based On RT-Smart

ROS2 is a powerful,flexible,reliable,and scalable robot software development framework that is widely used in all aspects of the robotics field.RT-Smart is a domestic open-source real-time operating system with good real-time performance and scalability.In order to fully combine the advantages of the two,this thesis proposes an RT-Smartbased ROS2 software architecture support extension scheme,and actively explores their combination.The main research content of the thesis is as follows:Aiming at the problem that ROS2 cannot be deployed under the new underlying operating system environment.Through modularization and top-down layered design ideas,combined with the research and analysis of the source code,implemented functions,loaded function packages and linked communication mechanism DDS data distribution services for each layer of the ROS2 software architecture,the relationship between each other Sort out the link relationship,the path of acquisition,the influencing factors of rich parameter sets,and the information flow direction between entities for data exchange.According to the ROS2 software architecture,the support and compatible interface API functions in the RT-Smart environment are expanded,and the publish-subscribe function nodes applications are designed to test the expanded interface API.For the RT-Smart system,the compilation of the ROS2 software package cannot be provided.Through the concept of component design,the ROS2 system is regarded as a collection of independent components,the core software package of ROS2 is cut out,and the dependencies of these functional packages and their components are determined.Set up the cross-compilation environment of the RT-Smart system in the Linux environment.With the help of the cross-compilation tool chain,the components of the software package are first cross-compiled into the form of a dynamic library or a static library,and the joint overall compilation is performed through the link relationship to realize the ROS2 software package.It is transplanted on the RT-Smart system to realize the scheduling of related resources of the RT-Smart system.Finally,the feasibility and effectiveness of the RT-Smart-based ROS2 software architecture to support the extension scheme are verified.