Using ROS- 3 devices - tethering

asked 2019-09-24 02:56:56 -0500

BarShir gravatar image

updated 2019-09-24 04:22:24 -0500

gvdhoorn gravatar image

Hi, I have the below architecture:

  1. PC - x_86 - connected to network X
  2. Android device - connected to network X (USB tethering open)
  3. arm - aarch64 device - connected via USB to the android device(tethering)

I can connect via ssh to my arm device using port forwarding(forward port 2222 to 22) I want to run nodes on my arm device and roscore on my x_86 device and communicate between them, the problem is that I need to forward a lot of random ports in order to do it. Do you have a good solution for that issue?

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Comments

The easiest would be to not use port forwarding. ROS nodes are standard Linux binaries which use ephemeral ports for communication. The ranges can not be configured -- or at least not at the ROS level, the OS typically does allow you to do that, but that would affect all networking applications.

Suggestion: see whether a VPN is an option. tinc has worked for me. If you only use the android device as a wireless NIC, then tinc should be able to bridge the arm and PC devices into a shared, virtual network using it. At that point you'd essentially have a normal LAN and things should work as you'd expect them to.

gvdhoorn gravatar imagegvdhoorn ( 2019-09-24 04:27:42 -0500 )edit