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It is basicly a Linux network thing that you want to achive. You want to be able to send ros Messages over a Serial line.

Just setup a permanent SLIP or PPP Connection between the two controllers.

If the network connection between the controllers exists, it acts like a Ethernet/wifi connection. Just the physical layer is RS232. It's speed is bound to the physical speen. Maybe you can use compression on both sides to increase throughput but it might increase latency.