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Using ROS for telecomumication

asked 2012-05-21 18:08:06 -0600

haquang gravatar image

updated 2014-01-28 17:12:24 -0600

ngrennan gravatar image

Hi everyone,

I'm using ROS with LAN network to connect my devices in my project. However, now I would like to configure my system out of LAN network. I want to set up a computer to run the Master node and connect to this computer from anywhere that have internet connection. Anyone experiences this kind of problem with ROS? Can you please give me a suggestion to do it?

Thanks

Haquang

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answered 2012-05-21 19:40:51 -0600

Lorenz gravatar image

Accessing all your ROS nodes that run in a local network from the outside might be tricky since you needed to run everything with a public IP.

I guess one option would be to use a VPN. You can have a VPN server that is publicly available and connect to it from the outside to get into your local network. OpenVPN is easy enough to set up and works quite well.

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We use openvpn in the standard PR2 operation for exactly this purpose.

tfoote gravatar imagetfoote ( 2012-05-25 20:31:58 -0600 )edit
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answered 2012-05-21 18:52:58 -0600

Basic information for such a setup is available on the ROS Wiki. Take a look at setting up multiple machines at http://www.ros.org/wiki/ROS/Tutorials/MultipleMachines. As long as you have persistent connectivity over your network, using one master should work fine.

If you need to run too many nodes across this one master, and notice problems launching new nodes, then you might have to use a multimaster setup. With persistent connectivity, the current multimaster stack should work well enough.

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answered 2012-05-21 22:43:29 -0600

haquang gravatar image

Hi all,

I tried to use Openvpn and configure ROS to connect master-slave computers. The problem is that ROS at slave side can regconize ROS node in master side but can not listen to any message from master side (I used rxgraph, rostopic for simple check).

Do you have any more suggestion??

Thanks

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answered 2012-05-21 20:37:19 -0600

haquang gravatar image

Thanks for your suggestion!

I will check it!

Thanks

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Asked: 2012-05-21 18:08:06 -0600

Seen: 450 times

Last updated: May 21 '12