ROS2 Connect: WAN環境向けの新しいROS2通信ソリューション
ROS2 Connect: A new ROS2 over WAN Solution
ROS2の通信をWebSocketベースでWAN環境でも透過的かつ安全に利用できるようにするフレームワークを提案し、既存手法より低遅延で安定した通信を実証した。
著者: Daniel Schott, Lakshminarasimhan Srinivasan, Christian Herrmann, Andreas Nüchter
分類: cs.RO
原文アブストラクト
The Robot Operating System 2 (ROS2) has become a widely adopted framework for the development of distributed robotic systems. However, its communication architecture, based on DDS and RTPS, relies on multicast discovery mechanisms that are typically unavailable in wide-area network (WAN) environments, making remote operation challenging. This work presents ROS2 Connect, a WebSocket-based communication framework that enables transparent and secure ROS2 interaction across routed networks without requiring modifications to network infrastructure or DDS configurations. The proposed client-server architecture supports bidirectional exchange of topics, services, actions, and system data while integrating authentication and access control mechanisms. Experimental evaluation over a real WAN connection demonstrates significantly lower latency, higher stability, and improved scalability compared to existing solutions, including DDS Router, rosbridge and Zenoh. Initial results show that ROS2 Connect provides a reliable foundation for teleoperation and distributed robotics applications over wide-area networks.