The Robot Operating System (ROS2) is the most widely used software platform for building robotics applications. FogROS2 extends ROS2 to allow robots to access cloud computing on demand. However, ROS2 and FogROS2 assume that all robots are locally connected and that each robot has full access and control of the other robots. With applications like distributed multi-robot systems, remote robot control, and mobile robots, robotics increasingly involves the global Internet and complex trust management. Existing approaches for connecting disjoint ROS2 networks lack key features such as security, compatibility, efficiency, and ease of use. We introduce FogROS2-SGC, an extension of FogROS2 that can effectively connect robot systems across different physical locations, networks, and Data Distribution Services (DDS). With globally unique and location-independent identifiers, FogROS2-SGC securely and efficiently routes data between robotics components around the globe. FogROS2-SGC is agnostic to the ROS2 distribution and configuration, is compatible with non-ROS2 software, and seamlessly extends existing ROS2 applications without any code modification. Experiments suggest FogROS2-SGC is 19x faster than rosbridge (a ROS2 package with comparable features, but lacking security). We also apply FogROS2-SGC to 4 robots and compute nodes that are 3600km apart. Videos and code are available on the project website https://sites.google.com/view/fogros2-sgc.

翻译：机器人操作系统（ROS2）是构建机器人应用最广泛使用的软件平台。FogROS2将ROS2扩展至云端，使机器人可按需访问云计算资源。然而，ROS2与FogROS2均假定所有机器人处于本地连接状态，且各机器人对其他机器人拥有完全访问与控制权限。随着分布式多机器人系统、远程机器人控制及移动机器人等应用场景的发展，机器人技术日益涉及全球互联网与复杂信任管理问题。现有连接非互通ROS2网络的方法缺乏安全性、兼容性、高效性及易用性等关键特性。我们提出FogROS2-SGC，作为FogROS2的扩展方案，可有效连接不同物理位置、网络及数据分发服务（DDS）下的机器人系统。通过全球唯一且位置无关的标识符，FogROS2-SGC能够安全高效地在全球范围内的机器人组件间路由数据。该方案对ROS2发行版与配置具有无关性，兼容非ROS2软件，且可在不修改任何代码的前提下无缝扩展现有ROS2应用。实验表明，FogROS2-SGC的处理速度比rosbridge（功能类似但缺乏安全性的ROS2软件包）快19倍。我们还将FogROS2-SGC应用于相距3600公里的4台机器人与计算节点。项目网站（https://sites.google.com/view/fogros2-sgc）提供视频演示与代码资源。