ros - 哪个是在不同 ROS 节点之间发送机器人状态的好方法？

Question

我正在实现一个基于 ROS 的机器人系统。我有不同的节点，每秒发送多次数据。但是，我不需要那个。我只想在机器人处于新位置时发送它的状态。您建议使用哪种 ROS 技术？

Answer 1

根据您的要求，您可以使用 ROS Services或 Parameter Server .

ROS Service: The publish / subscribe model is a very flexible communication paradigm, but its many-to-many one-way transport is not appropriate for RPC request / reply interactions, which are often required in a distributed system. Request / reply is done via a Service, which is defined by a pair of messages: one for the request and one for the reply.

Parameter Server: A parameter server is a shared, multi-variate dictionary that is accessible via network APIs. Nodes use this server to store and retrieve parameters at runtime. As it is not designed for high-performance, it is best used for static, non-binary data such as configuration parameters.