中国空间科学技术

›› 2019, Vol. 39 ›› Issue (1): 78-.doi: 10.16708/j.cnki.1000-758X.2018.0068

• 技术交流 • 上一篇    

基于ROS的空间即插即用架构软件解决方案

李长春，乔兵，王鹤彬   

  1. 南京航空航天大学 航天学院，南京210016
  • 出版日期:2019-02-25 发布日期:2019-02-25

A ROSbased solution to the space plugandplay architecture

LI Changchun，QIAO Bing，WANG Hebin   

  1. College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing210016, China
  • Published:2019-02-25 Online:2019-02-25

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摘要： 为了支持航天器软硬件系统的即插即用，必须配备一套中间层软件系统来自动处理组件的自发现、自配置和通信，针对这一需求提出一种基于机器人操作系统（ROS）实现空间即插即用软件架构的方案。在分析和对比ROS框架与SPA架构的基础上，根据SPA异质网络架构的特征，提出了基于ROS的SPA软件架构（RSPA）；对SPA协议在ROS框架下的实现问题进行了研究；设计了一种基于ROS的SPA演示系统。相比于以往的空间即插即用架构软件实施方案，RSPA具有清晰的网络模型，更容易扩展，并且可以有效利用ROS稳定的基础框架和丰富的工具加速软件构建过程。

关键词: 横块化, 空间即插即用架构, 航天器, 机器人操作系统

Abstract: To enable the plugandplay of the spacecraft systems, a middleware software system should be equipped beforehand to automatically deal with the selfdiscovering, selfconfiguration and communication between the components. A SPA software solution based on the Robot Operating System (ROS), or RSPA in short, was proposed. The RSPA software architecture that can handle the heterogeneous nature of SPA network was presented after the analysis and comparison between the software architectures of ROS and SPA. Then the problem of the implementation of SPA protocol through ROS environment was addressed. Finally, an emulation system which was used to verify the effectiveness of RSPA was demonstrated. Compared with the previous space plugandplay architecture software implementation, RSPA has a clear network model, is easier to expand, and can effectively utilize ROS′s stable infrastructure and rich tools to accelerate software development.

Key words: modularization, space plugandplay architecture, spacecraft, ROS