让ROS2在广域网中稳定通信，无需改网络配置
ROS2 Connect: A new ROS2 over WAN Solution
- 用WebSocket构建客户端-服务器架构，透明传输ROS2数据
- 实测延迟更低、稳定性更高，支持远程操控与分布式系统
- 适合远程机器人操作、跨网络协作的开发者使用
机器人操作系统2（ROS2）已成为分布式机器人系统开发的主流框架。然而，其基于DDS和RTPS的通信架构依赖多播发现机制，在广域网（WAN）环境中通常不可用，导致远程操作困难。本文提出ROS2 Connect，一种基于WebSocket的通信框架，可在无需修改网络基础设施或DDS配置的情况下，实现跨路由网络的透明且安全的ROS2交互。该方案采用客户端-服务器架构，支持话题、服务、动作及系统数据的双向交换，并集成认证与访问控制机制。实际广域网环境下的实验表明，相比DDS Router、rosbridge和Zenoh等现有方案，ROS2 Connect展现出显著更低的延迟、更高的稳定性与更好的可扩展性。初步结果表明，ROS2 Connect为广域网环境下的远程操作与分布式机器人应用提供了可靠基础。
原文摘要 · Abstract (English)
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.
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