Cloud based implementation of ROS through VPN

Zhi, Lim Jia; Ng, Danny Wee-Kiat

doi:10.1109/icscc.2019.8843666

Cited by 9 publications

(2 citation statements)

References 8 publications

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“…Wan et al [31] and Saha et al [32] propose unifying robot-cloud communication. Lim et al proposed using VPNs [33], and FogROS 2 builds on this approach. FogROS 2 allows ROS 2 applications to easily use the cloud without code modification, and with secured communication.…”

Section: A Design Principlesmentioning

confidence: 99%

FogROS 2: An Adaptive and Extensible Platform for Cloud and Fog Robotics Using ROS 2

Ichnowski¹,

Chen²,

Dharmarajan³

et al. 2022

Preprint

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Mobility, power, and price points often dictate that robots do not have sufficient computing power on board to run modern robot algorithms at desired rates. Cloud computing providers such as AWS, GCP, and Azure offer immense computing power on demand, but tapping into that power from a robot is non-trivial. In this paper, we present FogROS 2, an easy-to-use, open-source platform to facilitate cloud and fog robotics that is compatible with the emerging Robot Operating System 2 (ROS 2) standard. FogROS 2 provisions a cloud computer, deploys and launches ROS 2 nodes to the cloud computer, sets up secure networking between the robot and cloud, and starts the application running. FogROS 2 is completely redesigned and distinct from its predecessor to support ROS 2 applications, transparent video compression and communication, improved performance and security, support for multiple cloud-computing providers, and remote monitoring and visualization. We demonstrate in example applications that the performance gained by using cloud computers can overcome the network latency to significantly speed up robot performance. In examples, FogROS 2 reduces SLAM latency by 50%, reduces grasp planning time from 14s to 1.2s, and speeds up motion planning 28x. When compared to alternatives, FogROS 2 reduces network utilization by up to 3.8x. FogROS 2, source, examples, and documentation is available at https: //github.com/BerkeleyAutomation/FogROS2.

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Section: A Design Principlesmentioning

confidence: 99%

FogROS 2: An Adaptive and Extensible Platform for Cloud and Fog Robotics Using ROS 2

Ichnowski¹,

Chen²,

Dharmarajan³

et al. 2022

Preprint

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“…Several attempts to teleoperate robot digital twins via cloud servers have been published in the literature. Lim et al [5] have successfully established a robot server-client connection by using the robot operating system (ROS) in a virtual private network (VPN). In their study, they calculated an average round trip time of 18.6540 ± 23.7870 ms for a simultaneous localisation and mapping (SLAM) process of a robot digital twin.…”

Section: Introductionmentioning

confidence: 99%

An Investigation of the Network Characteristics and Requirements of 3D Environmental Digital Twins for Inspection Robots

Kivrak

Baniqued

Watson

et al. 2022

2022 IEEE 23rd International Symposium on a World of Wireless, Mobile and Multimedia Networks (WoWMoM)

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Digital twins tend to be on the way of becoming the future of robots, artificial intelligence, and IoT devices, especially in industrial applications. Creating a digital twin solution will help to solve challenges faced in managing the tasks in their operating environment since it enables an integrated solution for the framework that seamlessly connects to their physical counterparts with the latest internet technologies. In this study, we aim to develop a synchronous, situational-aware, bidirectional/multi-directional digital twin platform that allows us to perceive real-time/simultaneous flow of sensory environmental data and remotely operate robots through digital twins for continuous inspection. To achieve this aim, we will investigate the interoperability issues in robot teleoperation with 3D mapping of a remote unknown environment case scenario.

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