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Robotic systems are more connected, networked, and distributed than ever. Newarchitectures that comply with the \textit{de facto} robotics middlewarestandard, ROS\,2, have recently emerged to fill the gap in terms of hybridsystems deployed from edge to cloud. This paper reviews new architectures andtechnologies that enable containerized robotic applications to seamlessly runat the edge or in the cloud. We also overview systems that include solutionsfrom extension to ROS\,2 tooling to the integration of Kubernetes and ROS\,2.Another important trend is robot learning, and how new simulators and cloudsimulations are enabling, e.g., large-scale reinforcement learning ordistributed federated learning solutions. This has also enabled deeperintegration of continuous interaction and continuous deployment (CI/CD)pipelines for robotic systems development, going beyond standard software unittests with simulated tests to build and validate code automatically. We discussthe current technology readiness and list the potential new applicationscenarios that are becoming available. Finally, we discuss the currentchallenges in distributed robotic systems and list open research questions inthe field.

Distributed Robotic Systems in the Edge-Cloud Continuum with ROS 2: a Review on Novel Architectures and Technology Readiness