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I have translated a design doc to Chinese , Can I pull a request for it #10
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westeast
changed the title
have translate a design doc to Chinese , Can I pull a request for it
I have translated a design doc to Chinese , Can I pull a request for it
Aug 9, 2017
Would you please leave your mail address (or is it "f8cncn@gmail.com")? I will send the original drafted description in Chinese, maybe it will help you optimize the document to make it more reasonable, thank you! |
510578774@qq.com @bjtulynn (=;;; |
Have send email to you, @westeast, thank you! |
Please open a pull request.
Best wishes,
--
Ning Qu
2017-08-08 23:53 GMT-07:00 邹喜东 <notifications@github.com>:
… https://github.com/ApolloAuto/apollo-platform/blob/master/
ros/docs/design/shm_transport.md
如何使用
查看 Example talker and listener
<https://github.com/ApolloAuto/apollo-platform/tree/master/ros/ros_tutorials/roscpp_tutorials>
来了解如何使用此特性。
FAQ
1.
此特性对应用层透明吗?
A: 是的,应用层使用方法各原生ros一样.
2.
如果两个结点在不同的机器上会怎么?
A: ROS会根据部署环境自动选择使用哪种消息通信机制。如果两个节点在不同的机器上,会自动选择基于socket的消息通信机制。
3.
使用nodelet的会怎么样?
A: Nodelet已经是在传递指针了, 它和这个特性是兼容的。
4.
Python节点是否支持?
A: Python节点暂时还不支持这个特性. Python在节点间消息通信的时候仍然使用socket.
5.
如何关闭基于内存的消息通信机制?
A: 查看如下配置文件 config file
<https://github.com/ApolloAuto/apollo-platform/blob/master/ros/ros_comm/roscpp/transport_mode.yaml>.
也可以找到"etc/ros/transport_mode.yaml"这个路径来查看配置文件。
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https://github.com/ApolloAuto/apollo-platform/blob/master/ros/docs/design/shm_transport.md
how about I put it in '/apollo-platform/blob/master/ros/docs/design/shm_transport_cn.md' ?
设计文档: 基于共享内存的ROS消息高效通信机制
问题定义
Ros支持Node和Nodelet两种节点组织方式。对于 node节点, pub/sub服务是基于 socket通信的,因为每一个结点都是一个独立的进程。对于nodelet结点,pub/sub服务是基于共享内存的,不同的 nodelet是在同一进程内的不同的线程。
在自动驾驶领域,用 ROS的原生设计,我们遇到了如下的一系列问题:
新特性描述
因此我们提出了共享内存的 ROS消息传递层, 这种方式可以降低node节点间的消息通信延迟和内存占用. 基于次我们支持下面的特性 :
如何使用
查看 Example talker and listener来了解如何使用此特性。
FAQ
此特性对应用层透明吗?
A: 是的,应用层使用方法各原生ros一样.
如果两个结点在不同的机器上会怎么?
A: ROS会根据部署环境自动选择使用哪种消息通信机制。如果两个节点在不同的机器上,会自动选择基于socket的消息通信机制。
使用nodelet的会怎么样?
A: Nodelet已经是在传递指针了, 它和这个特性是兼容的。
Python节点是否支持?
A: Python节点暂时还不支持这个特性. Python在节点间消息通信的时候仍然使用socket.
如何关闭基于内存的消息通信机制?
A: 查看如下配置文件 config file. 也可以找到"etc/ros/transport_mode.yaml"这个路径来查看配置文件。
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