Ukucubungula bukhoma noma idatha eqoshiwe: yini ngempela edinga i-VPN?
Nquma ukuthi muphi umsebenzi werobhothi okufanele uwele inethiwekhi: imiphumela efika ngesikhathi, i-telemetry yokubheka noma isethi yedatha eqoshiwe. Izimo ezintathu, bese kuba imiyalo ye-bag.
Irobhothi eliyeka ukuba wusizo ekamelweni elilodwa lebanga lininkinga yoxhumo noma yomthwalo womsebenzi kudala ngaphambi kokuba libe nenkinga ye-VPN. Ukubethela kuvikela indlela, kodwa akukukhulisi ukufinyelela komsakazo futhi akwenzi ukubala kude kuqede ngokushesha. Isinqumo esiphambi kwakho ukuthi muphi umsebenzi okufanele uwele inethiwekhi ngempela, futhi leyo mpendulo ivamise ukususa ithrafikhi eningi kunalokho abantu abakulindele. Izimo ezintathu zinquma lokho, futhi i-throughput ayisiso esinye sazo.
Izinhlelo ezintathu, umbuzo owodwa wokuncika
Ithebula lehlukanisa izinhlelo ngokuthi yini encike kuxhumo, hhayi ngokuthi iyiphi isoftware evela emdwebeni.
| Arrangement | What depends on the link | What stays onboard |
|---|---|---|
| Live remote processing | The exchange and any timely result the workstation returns | Only what the remote step does not block |
| Onboard processing, remote observation | The declared telemetry or display stream | The processing loop itself |
| Local recording, later analysis | Transfer of one selected dataset | The entire run, including raw sensors |
Awukho umugqa kulelo thebula oyimpikiswano yokuphepha. Imisebenzi yokuphatha nokuphepha isadinga impendulo efanele yokubambezeleka, ukulahleka kwamaphakethe nokuxhumo olunqanyuliwe, futhi asikho isibonisi somhubhe esinikeza lokho. Ithebula litshela ukuthi ukuncika kukuphi, futhi yilowo ngxenye umklamo wenethiwekhi ongayishintsha ngempela.
Isimo sokuqala: ingabe impendulo kufanele ifike ngesikhathi?
Uma umphumela okude uphakela isilawuli, inethiwekhi ihlezi ngaphakathi komjikelezo wokulawula, futhi ukubambezeleka kwayo, i-jitter neziphazamiso ziba izimfanelo zokulawula. Uma lowo mphumela uhlala uphakela isibonisi, idashibhodi noma umuntu obhekile kuphela, ukubambezeleka okufanayo kungukubonakala nje.
Umsebenzi womjikelezo ovaliwe ngoxhumo olungenantambo uyenzeka, futhi yilapho iningi lemibiko ethi "i-VPN iyashesha kancane" liqala khona, ngoba umhubhe uyingxenye ebonakalayo kuyilapho umsakazo nokuhambisa kuyimbangela. Linganisa isikhathi sokuhamba nokubuya somlayezo wangempela hhayi i-ping yomhubhe uqobo, bese ubuza ukuthi ingabe leyo nombolo iyafinyelela kwisabelomali somjikelezo. Uma ingafinyeleli, hambisa isinyathelo siye ku-bhodi esikhundleni sokuxoxa ngezinga lezinsizakalo eliqinile kuxhumo okungekho muntu ekamelweni olulawulayo. Bhala phansi inombolo elinganisiwe kanye nezimo eziyathathwa ngaphansi kwazo, ngoba umbiko olandelayo uzofika ngaphandle kwazo.
Isimo sesibili: izinga elinjani, isiqondiso nokuphazamiseka okunjani ongakumemezela?
Bhala idatha, izinga, isiqondiso kanye nokuphazamiseka okude kakhulu okubekezelela uhlelo lokusebenza. Ukugeleza kwekhamera okuya phezulu nesiteshi semiyalo esiya phansi kwehluleka ngezindlela ezihlukene, futhi ukuphazamiseka okubekezelela ukuhlolwa okumile kuzoqeda umsebenzi ohambayo.
Gcina ukuxhuma komzimba kanye nomhubhe kwehlukile uma uqhathanisa izinketho, ngoba umsakazo onamandla kanye nomthwalo womsebenzi omncane kungukulungiswa okuhlukene. Ukudluliswa okukhulu okugcina kuqedwa akufakazeli lutho ngomphumela obheke isikhathi ofika njalo, futhi umhubhe ophilile awufakazeli lutho ngomsakazo ongemuva kwawo.
Bese wehlisa isidingo esikhundleni sokuvikela. Yehlisa amasampuli okugeleza kokubheka, thumela izifinyezo noma ama-delta, futhi ushiye idatha eluhlaza yezinzwa ku-bhodi lapho ukugcina kushibhile khona ukudluliswa kungenjalo. Umthwalo omncane wenza buthakathaka isizathu soxhumo olushesha futhi uvamise ukususa isidingo sakho ngokuphelele.
Isimo sesithathu: ubani okufanele akubone, futhi yini ehlala endaweni
Ukubheka ngokuvamile kuyisidingo esincane kakhulu kunokucubungula. Uma umuntu kufanele abheke ikhamera futhi ngemuva kwalokho kube nerekhodi, lokho yi-telemetry kanye nokugcina; uma imodeli kufanele isebenze, buza kuqala ukuthi ingasebenza yini ku-bhodi futhi kudluliswe umphumela wayo kuphela. Ukuhambisa isinyathelo esinzima ku-bhodi kususa ukuncika okuhambisana futhi kushiya ukudluliswa ongakuphinda uzame.
Ukuba khona kwabahlanganyeli be-ROS ababili kurobhothi elilodwa akukulungiseleli umhubhe ngokwako. Ukufinyeleleka kwama-node, ukugunyazwa kohlelo lokusebenza kanye nohlelo lokululama lwendawo kuyizinkinga ezihlukene, futhi i-VPN iphendula eyokuqala kuphela, futhi kuphela ithrafikhi ecelwa ukuba iyihambise.
Ukuqopha isethi yedatha wumklamo waso, nemiyalo yaso
Ngesibonelo esiboshelwe kunguqulo, isifundo sokuqopha se-ROS 2 Jazzy sihlanganisa ukuqopha izihloko ezikhethiwe, ukuhlola i-bag evelayo nokuyidlala futhi. Qopha izihloko zokubheka ezigunyaziwe, nikeza umgijimo igama, futhi gcina izincazelo zemilayezo nokucushwa eceleni kwayo.
ros2 bag record -o run42 /scan /camera/image_raw
ros2 bag info run42
ros2 bag play run42Ungaqophi zonke izihloko ngoba ithuluzi likwenza kube lula. Isikhala sokugcina sigcwalisa, idatha yekhamera nendawo inokuzwela, futhi i-bag yezihloko ezingenamalebula iyinkinga yokuhlaziya kulowo oyivula ngokulandelayo. Ukusabalalisa okufakiwe kunquma nemiyalo: amathuluzi abhalelwe ama-bag e-ROS 1 awadluliseli kuma-bag e-ROS 2, ngakho hlanganisa imibhalo nenguqulo efakwe kurobhothi.
Dlala futhi endaweni ehlukanisiwe yokuhlaziya noma yokulingisa. Ukudlala izihloko zomyalo eziqoshiwe zingene kuma-actuator erobhothi eliphilayo ingozi, futhi ukuvimbela iwuxhumo lwe-ROS oluhlukile noma ukungabi nakho konke okokusebenza emjikelezweni.
Nquma ukuthi ukuncika kufanele kube kuphi futhi kubhale phansi: i-VPN ivikela ukushintshana okumelwe kwenzeke, ukucubungula ku-bhodi kususa ukushintshana okwakungadingi neze ukuhambisana, futhi isethi yedatha eqoshiwe ithatha indawo yomsebenzisi obukhoma ngomsebenzisi wakamuva. Bese uhlola ngenhloso isimo sokunqanyulwa, ngesikhathi umsebenzi wasendaweni usaqhubeka, ngaphambi kokuba noma ubani athi umklamo usuphelile.