论文标题
代理ROS通信 - 在分布式多宿主环境中启用容器化的ROS部署
Proxying ROS communications -- enabling containerized ROS deployments in distributed multi-host environments
论文作者
论文摘要
凭借在边缘使用容器的能力，它们构成了统一的解决方案，以应对分布式多主机ROS部署的复杂性，以及单个的ROS节点和依赖关系部署。 ROS中的双向通信对使用集装箱的ROS部署与非限制性ros构成的挑战构成了挑战。我们将分析ROS采用的通信协议，以及不同容器网络模式的适用性及其对ROS部署的影响。最后，我们将为ROS提供第7层透明的代理服务器体系结构，以解决已确定的问题。不仅可以在容器化的环境中使用ROS，而且可以在网络段之间使用ROS。
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.
