A data transmission method between the ROS-based robot and the industrial controller

摘要

Abstract Aiming at the problems of low code reusing rate and inability to share communication content amoung ROS Nodes when a ROS-based robot communicates with the industrial controller, a data transmission method based on Modbus protocol and ROS service is proposed. In this method, the program responsible for communicating with the industrial controller and the program executing the robot task are encapsulated in different ROS Nodes, using the cross-process function call of ROS Service communication to realize data sharing among multiple Nodes, thereby reducing the coupling of the system and improving the code reusing rate. Finally, the feasibility of the method is verified by a robot mechanical protection system, which provides a method for the communication between the ROS-based robot and the industrial controller.