  With the ability to use containers at the edge, they pose a unified solution
to combat the complexity of distributed multi-host ROS deployments, as well as
individual ROS-node and dependency deployment. The bidirectional communication
in ROS poses a challenge to using containerized ROS deployments alongside
non-containerized ones spread over multiple machines though. We will analyze
the communication protocol employed by ROS, and the suitability of different
container networking modes and their implications on ROS deployments. Finally,
we will present a layer 7 transparent proxy server architecture for ROS, as a
solution to the identified problems. Enabling the use of ROS not only in
containerized environments, but proxying ROS between network segments in
general.
