Proxying ROS communications : enabling containerized ROS deployments in distributed multi-host environments
Publikationstyp
Conference Paper
Date Issued
2022-01
Sprache
English
Author(s)
Institut
Start Page
265
End Page
270
Citation
IEEE/SICE International Symposium on System Integration, SII 2022
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
IEEE
ISBN of container
978-1-6654-4540-5
978-1-6654-4539-9
978-1-6654-4541-2
With the ability to use containers at the edge, they pose a unified solution to combat the complexity of distributed multi-host ROS deployments, as well as individual ROS-node and dependency deployment. The bidirectional communication in ROS poses a challenge to using containerized ROS deployments alongside non-containerized ones spread over multiple machines though. We will analyze the communication protocol employed by ROS, and the suitability of different container networking modes and their implications on ROS deployments. Finally, we will present a layer 7 transparent proxy server architecture for ROS, as a solution to the identified problems. Enabling the use of ROS not only in containerized environments, but proxying ROS between network segments in general.
DDC Class
600: Technology