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Establishing remote networks for ROS applications via Port Forwarding: A detailed tutorial

Agricultural robots; Application programs; Computer software; Middleware; Wi-Fi; Cloud robotics; Indoor robots; Networked components; Port forwarding; Remote networks; Robot operating systems (ROS); Robot performance; Wi-Fi hotspot; Robots

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Main Authors: Hajjaj S.S.H., Sahari K.S.M.
Other Authors: 55812832600
Format: Article
Published: SAGE Publications Inc. 2023
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spelling my.uniten.dspace-232402023-05-29T14:38:42Z Establishing remote networks for ROS applications via Port Forwarding: A detailed tutorial Hajjaj S.S.H. Sahari K.S.M. 55812832600 57218170038 Agricultural robots; Application programs; Computer software; Middleware; Wi-Fi; Cloud robotics; Indoor robots; Networked components; Port forwarding; Remote networks; Robot operating systems (ROS); Robot performance; Wi-Fi hotspot; Robots In a Robot Operating System (ROS) application, robot software is often distributed across multiple networked components, forming the ROS network, where every component acts as server and/or a client, and publishing and/or receiving robot data simultaneously. For indoor robots, a local ROS network, through a Wi-Fi hotspot, is sufficient. But for outdoor robots, a remote ROS network is needed to connect the ROS application to the cloud. Although a number of cloud-based solutions support this, implementing them is challenging, as they need to be configured to facilitate ROS�s unique, multidirectional, and simultaneous flow of robot data. This article presents Port Forwarding as an alternative approach, which offers a private, secured, and a direct ROS-to-ROS, eliminating the need for a dedicated middleware and its configuration and setup complexities. But Port Forwarding has its own challenges; chiefly, the beforehand knowledge of Internet addresses of all networked components and the need to update port forwarding settings when these addresses change, which they often do. This article addresses this issue (and others) and presents a detailed procedure for setting Port Forwarding for ROS applications, highlighting configuration, and troubleshooting steps. Also, the article compares between Port Forwarding and cloud-based solutions, in terms of setup, performance, and others. Results show that robot performance under Port Forwarding is on par with cloud-based solutions, but it required a fraction of setup time. The authors developed a set of shell scripts that monitor the Internet addresses of all networked components and auto-update Port Forwarding settings when they change, solving this issue. With this, Port Forwarding could be considered a viable option for ROS system networks, on par with cloud-based solutions. � The Author(s) 2017. Final 2023-05-29T06:38:42Z 2023-05-29T06:38:42Z 2017 Article 10.1177/1729881417703355 2-s2.0-85020013487 https://www.scopus.com/inward/record.uri?eid=2-s2.0-85020013487&doi=10.1177%2f1729881417703355&partnerID=40&md5=f751dd32767ec7df3458aea0f05dbf44 https://irepository.uniten.edu.my/handle/123456789/23240 14 3 All Open Access, Gold SAGE Publications Inc. Scopus
institution Universiti Tenaga Nasional
building UNITEN Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Tenaga Nasional
content_source UNITEN Institutional Repository
url_provider http://dspace.uniten.edu.my/
description Agricultural robots; Application programs; Computer software; Middleware; Wi-Fi; Cloud robotics; Indoor robots; Networked components; Port forwarding; Remote networks; Robot operating systems (ROS); Robot performance; Wi-Fi hotspot; Robots
author2 55812832600
author_facet 55812832600
Hajjaj S.S.H.
Sahari K.S.M.
format Article
author Hajjaj S.S.H.
Sahari K.S.M.
spellingShingle Hajjaj S.S.H.
Sahari K.S.M.
Establishing remote networks for ROS applications via Port Forwarding: A detailed tutorial
author_sort Hajjaj S.S.H.
title Establishing remote networks for ROS applications via Port Forwarding: A detailed tutorial
title_short Establishing remote networks for ROS applications via Port Forwarding: A detailed tutorial
title_full Establishing remote networks for ROS applications via Port Forwarding: A detailed tutorial
title_fullStr Establishing remote networks for ROS applications via Port Forwarding: A detailed tutorial
title_full_unstemmed Establishing remote networks for ROS applications via Port Forwarding: A detailed tutorial
title_sort establishing remote networks for ros applications via port forwarding: a detailed tutorial
publisher SAGE Publications Inc.
publishDate 2023
_version_ 1806424172869451776
score 13.211869

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