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ROSGW: REST 기반 통신을 통한 ROS와 클라우드 간 상호운용성 지원
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- Issue Date
- 2026-02
- Citation
- 한국로봇학회 종합 학술 대회 2026, pp.132-134
- Publisher
- 한국로봇학회
- Language
- Korean
- Type
- Conference Paper
- Abstract
- The Robot Operating System (ROS) has become a representative middleware widely utilized across various robotic platforms, with ROS2 addressing the limitations of ROS 1 by enhancing real-time capabilities, security, and distributed processing. However, ROS2 relies on the Data Distribution Service (DDS)-based publish/subscribe mechanism, which significantly restricts communication availability in constrained environments such as firewalls, Network Address Translation (NAT), and wireless networks. These limitations hinder seamless integration between robots and external services, thereby posing obstacles to the broader deployment of ROS in practical applications. Meanwhile, modem robotic systems increasingly demand interoperability with cloud services, mobile devices, and IoT platforms. To meet this requirement, REST (Representational State Transfer)-based web APIs have been widely adopted, as they leverage the standard HTTP protocol to ensure stable operation under diverse network conditions and to facilitate integration across heterogeneous platforms. This study introduces an extended version of ROS Gateway (ROSGW) designed to enhance interoperability between ROS and cloud environments. The extended ROSGW enables bidirectional communication by translating ROS2 messages into RESTful APIs and, conversely, converting REST requests into ROS2 messages. This approach ensures reliable connectivity even in restrictive network environments such as firewalk and NAT, thereby improving the scalability and accessibility of cloud-based robotic applications. The main contributions of this study are as follows: (1) the extended design of a gateway architecture supporting interoperability between ROS2 and REST applications, and (2) performance validation of the proposed approach through real-world application scenarios.
- Keyword
- ROS, gateway, cloud robotics, middleware, shared control
- KSP Keywords
- Application scenarios, Cloud service, Distribution service, HTTP Protocol, IoT platform, Performance validation, Publish/subscribe mechanism, Real-time, Real-world applications, Representational state transfer(REST), Robot Operating System(ROS)