Hello community,

a typical scenario at robot deploy and development is remote access and debugging.

There are several methods to access a robot over routed ip connections available. In the following I speak about trusted connections via intranet or vpn across firewalls.

Scenario:

Desktop with development and ROS tools (Supporter/Developer) Remote robot system with limited resources (ros robot at remote lab or customer)

ROS1

1. remote control via VNC/RDP to target robot, if robot has graphical interface installed. (poor performance)
2. ssh and X tunnel via ssh ( ssh -X -C user@robot) to target and use remote tools. (pure performance)
3. ssh to target robot, create bags, transfer back to desktop and analyse offline.
4. rosbridge_server/websockets at remote target and client with roslibpy (own tools)
5. install openvpn server at remote robot, connect via openvpn client and feel like inside the same network environment.
6. export ROS_MASTER_URI=http://remote_target:11311 and use local tools.

ROS2

items 1 to 5 like ros1

Is there a method like item 6 at ROS2 available ? It's mostly easy and has the best performance.

Thanks for feedback and advice.

Cheers Chrimo