I-ROS 2 phezu kwe-VPN: ukuthola akulona indlela yedatha

Amanodi amabili e-ROS 2 emikhawulweni ephambene ye-VPN angakwazi ukufaka izihloko zomunye nomunye ohlwini, kodwa angakwazi ukuletha ngisho umlayezo owodwa. Ukuthola nedatha yomsebenzisi kungukushintshana okuhlukene okunezindlela ezihlukene, futhi iseva yokuthola ayidlulisi imithwalo. Ukuhlola okunye bese ucabanga okunye yikho okwenza amaqembu agcine eseshintsha i-middleware kuyilapho umhubhe ungakaze uthwale idatha. Inqubo engezansi ihlukanisa imiphumela emibili ngaphambi kokushintshwa kwanoma yini.

Lokho iseva yokuthola ekuthwalayo ngempela

Kwi-Fast DDS, i-Discovery Server isabalalisa ulwazi mayelana namaphuzu okugcina: ubani oshicilelayo, ubani obhalisayo nokuthi iyiphi i-QoS elindelwe yilowo nalowo. Lapho ozakwethu sebazana, idatha yomsebenzisi ihamba ngqo phakathi kwabo esikhundleni sokudlula kuleyo seva. Ukufinyelela kuseva kufakazela ukuthi umlamuli wezethulo uyaphendula, hhayi okunye. I-VPN enomzila isadinga indlela esebenzayo kuzo zombili izinhlangothi phakathi kwamakheli akhishwe ngabalingani.

Lowo mehluko uphinde uchaze ukwehluleka okuyingxenye, lapho ozakwethu abakhona beqhubeka nokushintshana ngedatha kuyilapho ukuthola okusha kuyeka ukusebenza. Kubheke njengophenyo olubili oluhlukene.

Funda i-RMW esetshenziswa amanodi ngempela

I-ROS 2 ingalayisha ama-middleware ahlukene, futhi ukuguquguquka okuthunyelwe ku-shell yakho akufinyeleli izinqubo eziqalwe kwenye indawo. Buza uhlelo olusebenzayo esikhundleni somlando wetheminali yakho.

printenv RMW_IMPLEMENTATION
ros2 doctor --report | head -n 20

Ukuguquguquka okungasethiwe ngokuvamile kusho okungokwemvelo okufakiwe, okungase kuhluke phakathi kwemishini ocwaningweni olulodwa. Umbiko uphinde usho ukusatshalaliswa kanye ne-middleware esetshenziswayo, ngakho-ke qhathanisa kuzo zombili izinhlangothi zomhubhe ngaphambi kokucabanga ukuthi ziyafana. I-daemon yomugqa womyalo we-ROS igcina isimo ku-cache, ngakho-ke yiqalise kabusha ngemva kokushintsha indawo esikhundleni sokuvumela i-daemon egugile ukuba iphendule ngokucushwa kwakudala. Bhala ukusatshalaliswa ne-RMW yazo zombili izingqalaziyo kumanothi okuhlola ngenkathi isikhathi sokuhlangana sivuliwe.

Hlola ukuthola nedatha njengemiphumela emibili

Khetha isihloko esingeyongozi futhi kala ukwethulwa ngokuhlukile ekulethweni. Umyalo we-info ubala amaphuzu okugcina ne-QoS, kuyilapho i-echo ifakazela ukuthi umlayezo owodwa uwela ngempela isixhumanisi.

ros2 topic info /chatter --verbose
ros2 topic echo /chatter --once

Ukuvela kwamaphuzu okugcina kokuphuma kwe-info kungumphumela wokuthola. Ukufika komlayezo kumlangisi kungumphumela wezokuthutha, futhi ngowesibili kuphela ohlola indlela edingwa uhlelo lokusebenza. Lapho ukuthola kusebenza futhi i-echo iphelelwa isikhathi, hlola amakheli akhishiwe kanye nomzila wokubuya esikhundleni sesevisi yokuthola. Gijimisa yomibili imiyalo kusuka kungqalazi ngayinye, ngoba umzila we-VPN onalinganiyo uvame ukuziveza ohlangothini olulodwa kuphela.

Shintsha ukuncika okukodwa ngesikhathi

Lapho indlela yedatha ihluleka, gwema ukushintsha i-middleware, imodi yokuthola kanye nosayizi womlayezo esikhathini esisodwa sokuhlangana, ngoba ngemva kwalokho akukho mphumela ongabelwa. I-Zenoh RMW iyindlela ehlukile esemthethweni, kodwa i-router yayo iba okunye ukuncika okufanele kufinyeleleke ngomhubhe.

export RMW_IMPLEMENTATION=rmw_zenoh_cpp
ros2 run rmw_zenoh_cpp rmw_zenohd

Ngaphansi kwaleyo RMW i-router ithwala ukuthola ekuhlelweni okuzenzakalelayo kwe-Jazzy, futhi ukuthola kwe-multicast kucishiwe lapho, ngakho-ke lokhu kuncika kumanothi akho hhayi emcabangweni obolekwe kwenye i-middleware. Gcina umsebenzi uzinzile ngenkathi ushintsha isilungiselelo esisodwa, bese uphinda ukuhlola kwe-echo futhi urekhode isiqondiso, izinga lomlayezo kanye nezimo zesixhumanisi. Gijimisa ukuqhathanisa kabili ukuze uhlukanise ukuthuthuka kwangempela nokuxhumana kabusha kwenhlanhla. Uma ushintsho luthuthukisa ukuthola kuyilapho ukulethwa kuhlala kufana, ushintshile isevisi yokwethulwa, hhayi indlela yedatha.