关键词: 多进程, 进程间, 发布订阅, socket通信, 多机通信

Abstract:  Each behavior of spacecraft needs a variety of information synthesis to make a judgment. How to effectively transfer the data of multiple sensors has become a concern for many people. The robot operating system used a topic based method to solve this problem. However, ROS is written by C++ language and can’t be directly used in embedded platform. In this paper, we regard information transference as nodes, and use C language to implement the communication mechanism. Each node can choose the topic interest to become the publisher or subscriber. The publisher and subscriber do not know the information of other nodes to realize function decoupling. AT present, the method achieves perfect result between single and multimachine on windows platform.