FogROS G Enabling Secure Connected and Mobile Fog Robotics with Global Addressability Kaiyuan Chen1 Jiachen Yuan1 Nikhil Jha1 Jeffrey Ichnowski1

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FogROS G: Enabling Secure, Connected and Mobile Fog Robotics with

Global Addressability

Kaiyuan Chen1, Jiachen Yuan1, Nikhil Jha1, Jeffrey Ichnowski1,

John Kubiatowicz1, and Ken Goldberg1,2

Abstract— Fog Robotics renders networked robots with

greater mobility, on-demand compute capabilities and better

energy efﬁciency by ofﬂoading heavy robotics workloads to

nearby Edge and distant Cloud data centers. However, as the

de-facto standard for implementing fog robotics applications,

Robot Operating System (ROS) and its successor ROS2 fail to

provide fog robots with a mobile-friendly and secure commu-

nication infrastructure.

In this work, we present FogROS G, a secure routing frame-

work that connects robotics software components from different

physical locations, networks, Data Distribution Service (DDS)

and ROS distributions. FogROS G indexes networked robots

with globally unique 256-bit names that remains constant even

if the robot roams between multiple administrative network

domains. FogROS G leverages Global Data Plane, a global and

secure peer-to-peer routing infrastructure between the names,

guaranteeing that only authenticated party can send to or

receive from the robot. FogROS G adopts a proxy-based design

that connect nodes from ROS1 and ROS2 with mainstream

DDS vendors; this can be done without any changes to the

application code. The code is publicly available at https:

//github.com/KeplerC/gdp-for-ros.

I . I NTRODUCTION

As robot onboard resources fail to keep up with heavier

robotics computations, leveraging external computational re-

sources on demand becomes more desirable. Fog robotics [

[

] has been proposed for the continuum of Cloud Computing

that offers immense on-demand computational resources and

Edge Computing that exploits the resources close to the robot

with lower access latency [

], [

]. In this paper, we propose

FogROS G, a framework that enables secure and location-

independent routing for Robot Operating System (ROS)

. It

allows networked robots to roam freely with no requirement

of a static network address (i.e. IP), network administrative

domain or physical location. With minimal effort, robotic

application developers can publish their compute services

globally and only authenticated robots can use the services;

they can also establish secure communication channel with

robots even if the robots do not have a publicly accessible

network address.

ROS is the de-facto standard for implementing fog robotics

applications. It modularizes the robotics application into

nodes, and connects the nodes into a graph. Nodes commu-

nicate with each other through a publish-subscribe (pub/sub)

1Department of Electrical Engineering and Computer Science

2Department of Industrial Engineering and Operations Research

1,2University of California, Berkeley, CA, USA

{kych, jcyuan johnson, nikhiljha, jeffi, kubitron,

goldberg}@berkeley.edu

1For the rest of the paper, we use ROS for both ROS1 and ROS2.

Enterprise Net

University Net

Cloud Cluster

GDP Proxy

Drone IP: 10.0.2.3

Sensor Node

GDP Proxy

Grasp

Planning

Motion

Planning

ROS1 Network

ROS2 Network

GDP Network

ROS2 Nodes

ROS1 Nodes

Move

GDP

Infrastructure

R: /images

G: [75e…0fc]

Control Node R: /commands

G: [af0…889]

Drone IP: 192.1.1.18

Sensor Node

GDP Proxy

R: /images

G: [75e…0fc]

Control Node R: /commands

G: [af0…889]

Fig. 1: FogROS G connects fog robotics drone with cloud compute

resources. When the drone ﬂies from an enterprise network to a university

network, FogROS G persists its ROS connection over topic

/images

and

/commands

, despite (1) its IP address has changed and (2) both IP addresses

are behind ﬁrewall and not publicly accessible (2) the nodes on the cloud

are implemented in ROS1 but drone uses ROS2. This is accomplished

by assigning every ROS topic a globally-unique and location-independent

name(

[75e...0fc]

and

[af0...889]

) and by securely routing the

messages through GDP infrastructure.

system that node publishes messages with respect to topics,

and subscribes to the topics published by other nodes.

Although it presents a convenient interface to robotics

application developers, the current ROS 2 implementation

cannot meet the following requirements of the fog robotics

applications:

a) Edge-Cloud Continuum: ROS computational graph

may span across multiple network administrative domains

with the recent advances of the edge computing and multi-

cloud computing [

], [

]. For example, in FogROS

], a ROS node on the robot can connect to both Google

Cloud Platform (GCP) and Amazon Web Services (AWS).

However, some of the IP addresses are visible only within

the same network domain, and external accesses are blocked

by ﬁrewall. ROS is unable to discover the nodes out of the

domain and those without a publicly accessible address.

b) Mobility: ROS uses static IP address to discover and

peer with ROS nodes on other machines. However, because

an IP address is usually bound to a physical location. The

mobile robots, such as Unmanned Aerial Vehicle, cannot have

a static IP address. Existing approaches such as mobile IP,

are known to have security and reliability issues [10].

c) Security: ROS is notorious for the lack of the security

mechanisms [

], [

]. For example, due to the lack of

authentication scheme in the ROS implementation, anyone

can join an existing ROS network, publish to and subscribe

from the robots. Attackers can freely listen to the existing

arXiv:2210.11691v1 [cs.RO] 21 Oct 2022

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FogROSG:EnablingSecure,ConnectedandMobileFogRoboticswithGlobalAddressabilityKaiyuanChen1,JiachenYuan1,NikhilJha1,JeffreyIchnowski1,JohnKubiatowicz1,andKenGoldberg1;2AbstractFogRoboticsrendersnetworkedrobotswithgreatermobility,on-demandcomputecapabilitiesandbetterenergyefciencybyofoadingheavyrobot...

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FogROS G Enabling Secure Connected and Mobile Fog Robotics with Global Addressability Kaiyuan Chen1 Jiachen Yuan1 Nikhil Jha1 Jeffrey Ichnowski1

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