F3 · Robotics & Embodied
ROS 2 Device Connect
Overview
On Arm Linux, this guide uses the Device Connect adapter to wrap an existing containerized ROS 2 system into a typed device discoverable and callable by a peer device or AI agent. The workflow exposes read-only inspection RPCs for nodes, topics, services, packages, interfaces and topic metadata via `docker exec`, and extends through profiles to a Raspberry Pi 5 camera and a robot driver with allowlisted actions, bounded velocity and explicit stop. This integration pattern keeps ROS 2 as the robot's internal graph while adding an external capability layer controlled by the device owner, so external tools need not handle ROS 2 topics, QoS or container configuration directly.
Scope of verification
- It is a ROS 2/Device Connect reference workflow on Arm Linux, validating containerized ROS 2 inspection, device discovery, typed RPC and the controlled extension of camera/robot profiles.
- Dependencies include Arm64 Linux, Docker, a ROS 2 container, Device Connect edge/agent packages, the `ros2-device-connect` adapter, a Zenoh D2D network and a matching profile/allowlist configuration.
- The tutorial runs with `DEVICE_CONNECT_ALLOW_INSECURE=true` on a trusted local network with no transport authentication; the adapter provides no arbitrary ROS 2 passthrough, and allowlists, velocity bounds and stop commands do not replace authentication, authorization, a physical safety controller or an emergency-stop system.
Canonical source: https://learn.arm.com/learning-paths/cross-platform/ros2-device-connect/
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.