Pico is an open-source alternative to Ngrok. Unlike most other open-source tunnelling solutions, Pico is designed to serve production traffic and be simple to host (particularly on Kubernetes).
Upstream services connect to Pico and register endpoints. Pico will then route requests for an endpoint to a registered upstream service via its outbound-only connection. This means you can expose your services without opening a public port.
Pico runs as a cluster of nodes in order to be fault tolerant, scale horizontally and support zero downtime deployments. It is also easy to host, such as a Kubernetes Deployment or StatefulSet behind a HTTP load balancer.
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