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The Robot Operating System (ROS2) is the most widely used software platformfor building robotics applications. FogROS2 extends ROS2 to allow robots toaccess cloud computing on demand. However, ROS2 and FogROS2 assume that allrobots are locally connected and that each robot has full access and control ofthe other robots. With applications like distributed multi-robot systems,remote robot control, and mobile robots, robotics increasingly involves theglobal Internet and complex trust management. Existing approaches forconnecting disjoint ROS2 networks lack key features such as security,compatibility, efficiency, and ease of use. We introduce FogROS2-SGC, anextension of FogROS2 that can effectively connect robot systems acrossdifferent physical locations, networks, and Data Distribution Services (DDS).With globally unique and location-independent identifiers, FogROS2-SGC securelyand efficiently routes data between robotics components around the globe.FogROS2-SGC is agnostic to the ROS2 distribution and configuration, iscompatible with non-ROS2 software, and seamlessly extends existing ROS2applications without any code modification. Experiments suggest FogROS2-SGC is19x faster than rosbridge (a ROS2 package with comparable features, but lackingsecurity). We also apply FogROS2-SGC to 4 robots and compute nodes that are3600km apart. Videos and code are available on the project websitehttps://sites.google.com/view/fogros2-sgc.

FogROS2-SGC: A ROS2 Cloud Robotics Platform for Secure Global Connectivity