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You should really just be using raw UDP sockets here. (Or running ROS on your Pi)
ROS publishers and subscribers are explicitly set up to automatically discover and establish connections between one another, and can't be configured to connect to arbitrary network endpoints. It's very difficult to receive messages from a ROS node without implementing your own ROS client library.
The various ROS publishers and subscribers also have a custom serialization and deserialization protocol that is intentionally hidden from the user - unless you're implementing a full ROS client library, you shouldn't need to worry about it.
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