There has been a growing demand for robot operating system (ROS) in various domains, such as intelligent robotic systems, industrial automation, autonomous vehicles, and the Internet of Things (IoT) for smart control applications. Meanwhile, ROS presents several challenges in securing ROS communication networks when employed for different applications. This paper proposes simulating the Man-in-the-Middle (MITM) attack within a ROS-based communication network that is used with an IoT device like Jetson Nano. Messages between legitimate ROS nodes were intercepted, altered, and republished using a malicious node in the communication network. This research demonstrates the vulnerabilities in ROS networks, revealing how swiftly an attacker could compromise critical data. The impact of this attack on system behavior is assessed to emphasize the urgent need for enhanced security measures in ROS-based systems. Mitigation strategies are proposed to abate the cyber threats on ROS communication with IoT devices. The findings of this study serve as a foundation for future research to improve the security of ROS communication channels used in various domains.