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I managed to come up with a simple solution using OpenVPN. With OpenVPN, I created a private network so that I could directly access the robots through my webserver. From my webserver, I used rosbridge_suite to connect to the robot via a websocket. From there, I could publish messages to topics, subscribe to topics, and call services. I also ran mjpeg_server on the robots to be able to view them from the webserver!

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