Uncovering Communication Bottlenecks in Scalable ROS 2 Deployments on Kubernetes for Cloud/Edge Robotics

Abstract

Containerization and orchestration using cloud-native technologies enable scalable deployment of robotic software. Integrating ROS~2 with Kubernetes offers a flexible infrastructure, but also introduces a complex, multi-layered communication stack - from DDS middleware to container networks and the physical layer. Each layer adds overhead and variability that impact application-level performance. This paper presents a comprehensive analysis of communication performance across the cloud–edge–robot continuum, focusing on throughput and one-way latency in scalable ROS~2 deployments. We evaluate communication across intra-robot, edge, and cloud segments using wired and wireless connections, including emerging technologies like Wi-Fi~7 and high-speed LAN. Using a Kubernetes-based testbed, we investigate various ROS~2 middlewares, CNI plugins, QoS configurations, and encryption options. Our experiments reveal the impact of network overlays, routing paths, and middleware choices on latency and bandwidth. Despite the inherent complexity, the results confirm the feasibility of deploying ROS~2 in orchestrated, scalable environments. We summarize key insights as practical takeaways, many of which apply beyond Kubernetes, to guide the design of robust cloud/edge robotic systems.