Problem
Research questions and friction points this paper is trying to address.
ROS2
WAN
multicast discovery
remote operation
communication architecture
ROS2 Connect: A new ROS2 over WAN Solution
🤖 AI Summary
本文提出ROS2 Connect，一种基于WebSocket的通信框架，解决ROS2在广域网环境下的远程操作问题，实现低延迟、高稳定性和可扩展性。
📝 Abstract
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.
Innovation
Methods, ideas, or system contributions that make the work stand out.
ROS2 Connect
WebSocket-based
wide-area network (WAN)
secure interaction
bidirectional exchange
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