Proxying ROS communications : enabling containerized ROS deployments in distributed multi-host environments

Publikationstyp
Conference Paper
Date Issued
2022-01
Sprache
English
Author(s)
Wendt, Arne  orcid-logo
Schüppstuhl, Thorsten  orcid-logo
Institut
Flugzeug-Produktionstechnik M-23  
TORE-URI
http://hdl.handle.net/11420/12044
Start Page
265
End Page
270
Citation
IEEE/SICE International Symposium on System Integration (SII 2022)
Contribution to Conference
2022 IEEE/SICE International Symposium on System Integration, SII 2022  
Publisher DOI
10.1109/SII52469.2022.9708884
Scopus ID
2-s2.0-85126246870
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.