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

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?

Asked by Muhd Hizam on 2022-08-23 06:29:46 UTC

Comments

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

Asked by Mike Scheutzow on 2022-08-23 07:48:27 UTC

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.

Asked by Muhd Hizam on 2022-08-23 23:09:17 UTC

I added the image to your post.

Asked by Mike Scheutzow on 2022-08-24 08:02:00 UTC

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

Asked by Muhd Hizam on 2022-08-24 22:49:32 UTC

Answers

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.

Asked by Mike Scheutzow on 2022-08-24 07:55:23 UTC