Best way to handle reverse SSH for a ROS Node?
So I have a ROS node that needs to run on the local machine to have access to certain hardware. However, I also want to connect to it outside the network. As such, I currently have a Amazon microservice setup that I reverse SSH into to allow me to connect to my robot behind a firewall. I was wondering what is an optimal strategy for managing ssh tunnels with ROS? Can I specify it to use it in ROSLaunch? Is there a ROS node which fulfills similar behavior? or does the ros structure actually somehow supports SSH tunneling in a manner I am not aware of?
Did you ever find an answer to this? I am doing the exact same thing and have the same question.