A Large-scale Distribution and Deployment of Robot Task Based on MQTT Protocol and ROS

摘要

The beginning and development of modern intelligent robot makes robot task become more and more complicated. Task distribution and deployment for large-scale robots has become a major problem. Traditional distribution mechanisms are mainly Polling, SMS Push and IP Push, but for the task distribution of robotic devices, these mechanisms cannot fully meet the system's requirements. In this paper, we propose a "Push-Pull" distribution mechanism, and make a comparative experiment with the "Direct-Push" distribution mechanism based on MQTT protocol. Meanwhile, we construct a large-scale distribution and deployment system of robot task, which implements the distribution and deployment of large text tasks promptly and can guarantee the quality of task distribution. The experimental results show that the task package distributed by our system can run successfully on the robot operating system (ROS).