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[ROS 1] Does UDP VPN work for ROS 1?

asked 2022-08-23 06:29:46 -0600

Muhd Hizam
1 ●1 ●2 ●5

updated 2022-08-24 22:50:15 -0600

I am setting up a remote laptop to connect to my robot via openVPN. I have provided the connection diagram below: image description

The robot and laptop are connected via an openVPN tunnel and I can ping both sides. When I use UDP VPN, I encounter issues to see the rostopic messages and RVIZ. However I have no issues when I'm using TCP VPN.

Can I check whether anyone encountered any issues to use UDP VPN for their ROS 1 remote system?

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What is an example of a topic name that does not work? Are you getting any errors in the logs?

Mike Scheutzow ( 2022-08-23 07:48:27 -0600 )edit

The rostopic list doesn't show anything and RVIZ doesn't loads up.

An example of a topic name that does not work is /velodyne_points (sensor_msgs/PointCloud2). I can't seem to find any errors in the logs when I run rostopic echo.

Muhd Hizam ( 2022-08-23 23:09:17 -0600 )edit

I added the image to your post.

Mike Scheutzow ( 2022-08-24 08:02:00 -0600 )edit

Thank you for adding the image and answer. Need some time to digest your answer. :)

Muhd Hizam ( 2022-08-24 22:49:32 -0600 )edit

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answered 2022-08-24 07:55:23 -0600

Mike Scheutzow
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Bi-directional UDP traffic is highly unlikely to pass through a public cellular network. There is almost certainly Network Address Translation in use, as well as possible issues with packet fragmentation.

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Asked: 2022-08-23 06:29:46 -0600

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Last updated: Aug 24 '22

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