Hello,

We are using ros kinetic on ubuntu 16.04.

We wanted to be able to control our robot remotely so we did set up an openvpn server following mostly what is advised in this question: /how-to-set-up-vpn-between-ros-machines.

The vpn is working fine however we have an android application that is used to control the robot. The application is working fine on local network but obviously when the robot is using the VPN network IP as master IP it fails as it is not connected to the vpn network.

We tried to connect our android device to the vpn but it seems that it is not possible to use TAP-style tunnels (link tap tunnels. We did not manage to make ros work correctly through a TUN-style tunnel ...

As anyone already encountered a similar situation and found a workaround that allows both a vpn set up and an android ros application to work simultaneously ?