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SSH Tunnels and ROS

asked 2011-09-09 10:04:15 -0500

Ibrahim
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updated 2011-09-12 20:05:46 -0500

kwc
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Hi,

Is there a way to tunnel ROS traffic over SSH, for example in cases where the ROS MASTER is not on the same network as another machine that I want to be able to connect to it. Thanks!

Edit: Never mind, I figured out how to use openvpn to achieve the same result from http://lists.willowgarage.com/pipermail/pr2-admins/2010-June/000055.html . But maybe this is useful for other people.

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answered 2011-09-09 12:57:56 -0500

Tully
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As you mentioned OpenVPN is the most common solution to this, and is what we use at Willow and on the PR2s.

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That's what I had thought, but after figuring it out I'm still a little curious as to whether it's possible to do it via ssh tunnels or not. But I guess because ROS nodes use a lot of different ports it'd be hard to do.

Ibrahim ( 2011-09-09 12:59:26 -0500 )edit

ROS uses ports allocated to it by the system, so they're not known ahead of time which makes setting up the forwarding hard, unless you basically forward all ports.

tfoote ( 2011-09-10 06:09:44 -0500 )edit

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Asked: 2011-09-09 10:04:15 -0500

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Last updated: Sep 09 '11

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SSH Tunnels and ROS