翻訳待ち：ROS2 Connect: A new ROS2 over WAN Solution

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--> [Submitted on 25 Aug 2026] Title:ROS2 Connect: A new ROS2 over WAN Solution View a PDF of the paper titled ROS2 Connect: A new ROS2 over WAN Solution, by Daniel Schott and Lakshminarasimhan Srinivasan and Christian Herrmann and Andreas N\"uchter View PDF HTML (experimental) Abstract: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. Comments: Proceedings of the 8th International Workshop on Robotics Software Engineering co-located with the 2026 IEEE International Conference on Robotics and Automation (ROSE '26) Subjects: Robotics (cs.RO) Cite as: arXiv:2608.25102 [cs.RO] (or arXiv:2608.25102v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.25102 arXiv-issued DOI via DataCite (pending registration) Submission history From: Andreas Nüchter [view email] [v1] Tue, 25 Aug 2026 19:52:47 UTC (41 KB) Full-text links: Access Paper: View a PDF of the paper titled ROS2 Connect: A new ROS2 over WAN Solution, by Daniel Schott and Lakshminarasimhan Srinivasan and Christian Herrmann and Andreas N\"uchter View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)