F3 · Robotics & Embodied
From Simulation to Real Wi‑Fi: Distributed ROS 2 on Arm
Overview
A ROS 2 system that runs fine on a workstation can fall apart on Wi-Fi, where bandwidth, latency and packet loss decide whether the remote side receives complete, usable sensor data. This post ties together three Learning Paths: a reproducible ROS 2 Jazzy and rmw_zenoh simulation on an Arm server, the same system distributed across containers and a Raspberry Pi, and traffic shaping with compression, access control, downsampling and QoS, compared over real Wi-Fi. Co-authored with Kwashie Andoh and Habib Ogunbanwo.
Scope of verification
- Measurements cover the simulated workload on an Arm server and a Raspberry Pi over real Wi-Fi, comparing camera receive rate and point-cloud completeness for untuned, compression plus access control, and compression plus QoS configurations; the numbers apply only to the topics, bandwidth limits and wireless environment described.
- The robot side is still a Gazebo simulation, not a physical robot. The policies decide which messages use the limited bandwidth but do not add Wi-Fi capacity, and the post does not cover authentication, encryption or long-run reliability.
Canonical source: https://developer.arm.com/community/arm-community-blogs/b/internet-of-things-blog/posts/from-simulation-to-real-wi-fi-building-distributed-ros-2-robotics-systems-on-arm
This page is a guided summary with boundary notes, not an official reproduction.
This page is a guided summary with boundary notes, not an official reproduction.