  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 communication infrastructure.
  In this work, we present FogROS G, a secure routing framework 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.
