Setting up remote access on a kobuki with a Hokuyo UST-10LX laser

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You need to set the routing table on the Raspberry pi OS. For an example, let's say the Hokuyo is connected via eth0 with IP address 10.0.0.5/24 and the IP address of the Raspberri Pi is 10.0.0.4/24. ROS communication happens via wlan0 where the IP address of the remote PC is 192.168.0.5/24 and the IP address of the Raspberri Pi is something like 192.168.0.4/24, then you need to setup the routing table as follows.

sudo ip route add 192.168.0.0/24 via 192.168.0.5 dev wlan0

sudo ip route add 10.0.0.0/24 via 10.0.0.5 dev eth0

You can check if the routing table is configured properly using ip route show command.

After setting the routing table, you can confirm that it's configured properly by pinging 10.0.0.5 and 192.168.0.5 from Raspberri Pi.