connected to local link ROS master behind VPN

asked 2015-04-12 22:45:56 -0500

mamort gravatar image

Here is a list of items.

REMOTE SETUP 1. Laptop 1 on own private network (172.17.x.x)

LOCAL SETUP 2. Laptop 2 on own private network (192.168.x.x) via wlan0 3. Laptop 2 has ROS master (rethink robotics Baxter) on local link (169. 254.x.x) via eth0

connected both Laptop 1 and Laptop 2 to known VPN (10.224.41.x), can ssh and connect to baxter via laptop 2, list nodes and run examples, etc.

What I would like to do is somehow connect Laptop 1 ROS environment to ROS Master (169.254.x.x on Laptop 2) so that I can run moveIT package on laptop 1. Doing this will save x11 porting display.

Now I thought of SSH tunnel but this is going to be a pain for ROS as it needs full network transparency, is there a better way I could do this that I am overlooking. Maybe some form of virtual routing on Laptop 2?

Thanks in Advance.

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