Robotic middleware is fundamental to ensuring reliable communication among system components and is crucial for intelligent robotics, autonomous vehicles, and smart manufacturing. However, existing robotic middleware often struggles to meet the diverse communication demands, optimize data transmission efficiency, and maintain scheduling determinism between Orin computing units in large-scale L4 autonomous vehicle deployments. This paper presents RIMAOS2C, a service discovery-based hybrid network communication middleware designed to tackle these challenges. By leveraging multi-level service discovery multicast, RIMAOS2C supports a wide variety of communication modes, including multiple cross-chip Ethernet protocols and PCIe communication capabilities. Its core mechanism, the Message Bridge, optimizes data flow forwarding and employs shared memory for centralized message distribution, reducing message redundancy and minimizing transmission delay uncertainty. Tested on L4 vehicles and Jetson Orin domain controllers, RIMAOS2C leverages TCP-based ZeroMQ to overcome the large-message transmission bottleneck in native CyberRT. In scenarios with two cross-chip subscribers, it eliminates message redundancy and improves large-data transmission efficiency by 36 to 40 percent while reducing callback latency variation by 42 to 906 percent. This research advances the communication capabilities of robotic operating systems and proposes a novel approach to optimizing communication in distributed computing architectures for autonomous driving.

翻译：机器人中间件是实现系统组件间可靠通信的基础，对智能机器人、自动驾驶车辆和智能制造至关重要。然而，现有的机器人中间件在应对大规模L4级自动驾驶车辆部署中Orin计算单元间的多样化通信需求、优化数据传输效率及维护调度确定性方面存在不足。本文提出RIMAOS2C——一种基于服务发现的混合网络通信中间件，旨在解决上述挑战。通过采用多级服务发现组播技术，RIMAOS2C支持包括多种跨芯片以太网协议及PCIe通信能力在内的多样化通信模式。其核心机制"消息桥"优化了数据流转发，并通过共享内存实现集中式消息分发，从而降低消息冗余并减小传输延迟的不确定性。经L4级车辆与Jetson Orin域控制器实测，RIMAOS2C利用基于TCP协议的ZeroMQ突破了原生CyberRT在大消息传输上的瓶颈。在双跨芯片订阅者场景中，该中间件消除消息冗余并提升大数据传输效率36%-40%，同时将回调延迟变化率降低42%-906%。本研究提升了机器人操作系统的通信能力，并为自动驾驶分布式计算架构中的通信优化提供了新方法。