Cloud native technologies have been observed to expand into the realm of Internet of Things (IoT) and Cyber-physical Systems, of which an important application domain is robotics. In this paper, we review the cloudification practice in the robotics domain from both literature and industrial perspectives. We propose RoboKube, an adaptive framework that is based on the Kubernetes (K8s) ecosystem to set up a common platform across the device-cloud continuum for the deployment of cloudified Robotic Operating System (ROS) powered applications, to facilitate the cloud native evolution in robotics. We examine the process of modernizing ROS applications using cloud-native technologies, focusing on both the platform and application perspectives. In addition, we address the challenges of networking setups for heterogeneous environments. This paper intends to serves as a guide for developers and researchers, offering insights into containerization strategies, ROS node distribution and clustering, and deployment options. To demonstrate the feasibility of our approach, we present a case study involving the cloudification of a teleoperation testbed.

翻译：云原生技术已被观察到向物联网（IoT）与信息物理系统领域扩展，其中机器人是一个重要的应用领域。本文从文献和工业实践双重角度梳理了机器人领域的云化实践。我们提出RoboKube——一种基于Kubernetes（K8s）生态系统的自适应框架，旨在设备-云连续体上构建统一平台，用于部署基于云化机器人操作系统（ROS）的应用程序，以促进机器人领域的云原生演进。我们从平台和应用程序两个维度审视了利用云原生技术实现ROS应用程序现代化的过程。此外，我们还处理了异构环境下网络配置的挑战。本文旨在为开发者和研究人员提供指南，阐述容器化策略、ROS节点分布与集群化方法以及部署选项。为验证方法的可行性，我们展示了一个涉及远程操作测试台云化的案例研究。