9. ROS Technical Overview
・ Message : XML-RPC(HTTP-based)
・ runs through TCP usually
・ The namesystem of process called “Master”
manages the services
http://wiki.ros.org/ROS/Technical%20Overview
10. 1. a service register a Name to the Master
2. a service query other services through Master
3. a service establishes TCP/IP connection with other
services
4. the services exchange the connection header
5. a service require the serialized message
6. the other service respond with the serialized message
Connection of ROS
Node(Process/Service)
24. Negative effects
1. Remote Control is possible just by
spoofing packets
2. How to spoof packets : TCP Spoofing
3. The robots nowadays connect to the
Internet → critical problem for robots
25. Solution
SSH,IPSec,SLL/TLS Encryption
Problem : Slow for Robot Control
→Needs of fast encryption
※Using IPSec,VPN make network connection more
than 6 times slower
http://d.hatena.ne.jp/nori_no/20100919/1284875253
※ROS XML-RPC Packet length is about
400~600 bytes(496±99.8 bytes)
(by my calculation & datasets)