Using ROS- 3 devices - tethering

asked 2019-09-24 02:56:56 -0600

BarShir gravatar image

updated 2019-09-24 04:22:24 -0600

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?

edit retag flag offensive close merge delete


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 image gvdhoorn  ( 2019-09-24 04:27:42 -0600 )edit