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ROS Gateway: Enhancing ROS Availability across Multiple Network Environments.

Byoung-Youl Song1, Hoon Choi2

  • 1Electronics and Telecommunication Research Institute, Daejeon 34129, Republic of Korea.

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Summary
This summary is machine-generated.

This study introduces ROS Gateway, a middleware enhancing Robot Operating System (ROS) communication across networks for cloud robotics. It improves data handling from sensors like LiDAR, crucial for intelligent robotic systems.

Keywords:
IoRTROScloud Roboticsgatewaymiddlewareon-device robot

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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Computer Networking

Background:

  • The increasing adoption of large-scale AI models is transforming robotics.
  • Cloud robotics, leveraging remote servers for complex tasks, is gaining traction.
  • The Robot Operating System (ROS) lacks native support for inter-network communication, hindering cloud integration.

Purpose of the Study:

  • To introduce ROS Gateway, a novel middleware designed to extend ROS communication capabilities across multiple networks.
  • To enhance the usability and communication range of ROS for cloud robotics applications.
  • To facilitate efficient processing of high-volume sensor data in distributed robotic systems.

Main Methods:

  • Development of ROS Gateway middleware based on the rosbridge protocol and implemented in Python 3.
  • Detailed description of ROS Gateway's structure, protocols, and algorithms.
  • Experimental evaluation comparing ROS Gateway performance against standard ROS configurations.

Main Results:

  • ROS Gateway demonstrates significant improvements in topic rate and reduced delay compared to traditional ROS setups.
  • The middleware efficiently handles high-volume data from advanced sensors like depth cameras and LiDAR.
  • Predictive formulas for topic receive rates are provided for system design and optimization.

Conclusions:

  • ROS Gateway effectively addresses the communication limitations of ROS in multi-network environments, crucial for cloud robotics.
  • The middleware enhances the performance and reliability of robotic systems processing large sensor datasets.
  • ROS Gateway supports the development of more responsive and intelligent robots for dynamic applications.