发表机构
Julius-Maximilians-Universität Würzburg; ENSTA; Institut Polytechnique de Paris; Zentrum für Telematik e.V.（维尔茨堡大学; 法国国立高等先进技术学院; 巴黎综合理工学院; 电信中心协会）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对ROS2在广域网中因组播机制缺失导致远程操作困难的问题，提出基于WebSocket的ROS2 Connect框架，经实验验证其在延迟、稳定性等方面优于现有方案，为广域远程机器人应用提供可靠基础。
AI 中文摘要
机器人操作系统2（ROS2）已成为开发分布式机器人系统的广泛采用的框架。然而，其基于DDS和RTPS的通信架构依赖于组播发现机制，而该机制通常在广域网（WAN）环境中不可用，这使得远程操作颇具挑战。本研究提出了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，实现跨路由网络中透明且安全的ROS2交互。所提出的客户端-服务器架构支持话题、服务、动作及系统数据的双向交换，同时集成了认证与访问控制机制。通过真实广域网连接开展的实验评估表明，与现有解决方案（包括DDS Router、rosbridge和Zenoh）相比，ROS2 Connect具有显著更低的延迟、更高的稳定性及更优的可扩展性。初步结果显示，ROS2 Connect为广域网环境下的远程操作和分布式机器人应用提供了可靠基础。
英文摘要
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.
CommentsProceedings of the 8th International Workshop on Robotics Software Engineering co-located with the 2026 IEEE International Conference on Robotics and Automation (ROSE '26)
