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Take a look at this answer, VPN or some other form of tunnel between remote networks seems the way to go about this. (From my knowledge, this topic has been discussed a couple times before on ROS Answers, but still doesn't have a nice go-to solution yet).

EDIT:

According to @gvdhoorn 's comment on this answer, the go-to solution is to use a VPN or some other form of tunnel.


ORIGINAL:

Take a look at this answer, VPN or some other form of tunnel between remote networks seems the way to go about this. (From my knowledge, this topic has been discussed a couple times before on ROS Answers, but still doesn't have a nice go-to solution yet).