How to Connect 3 Networks With Ethernet and WIFi/VPN?
I have two computers on a robot that are directly connected via Ethernet. Called" Magni" and "Jetson". The roscore is running on the Magni. Some nodes are running on the Magni and some are on the Jetson. Magni is connected to a wireless network. On this wireless network, there is a third computer "PC" that is connected to the Magni via Wireguard VPN.
The goal is to be able to send and receive messages from all components of the system to one another. The Magni - Jetson and Magni - PC pairs can ping, discover, and publish to each other and I think have their ROS_IP/MASTER_URI set correctly. The issue I am having is communication between my PC and the Jetson. I attempted to do some IP forwarding. Where first on the jetson I added a route from the static 192.168.131.1 IP to the Magni's VPN 10.0.0.161. After doing so I am able to ping the Magni's VPN address 10.0.0.161 from the jetson.
sudo route add -net 10.0.0.0 netmask 255.255.255.0 gw 192.168.131.1
Then on my PC, I attempted to add a similar route...
sudo route add -net 192.168.131.0 netmask 255.255.255.0 gw 10.0.0.161
From my PC I then tried to communicate with the jetson (via ping). However, I am not able to successfully communicate with the Jetson. I have also tried other routes to no avail. I was wondering if someone could point me in the right direction as to how to resolve this issue.
PC's Kernel IP routing table
Destination Gateway Genmask Flags Metric Ref Use Iface
0.0.0.0 10.147.x.x 0.0.0.0 UG 600 0 0 wlp2s0
10.0.0.0 0.0.0.0 255.255.255.0 U 0 0 0 wg0
10.147.x.x 0.0.0.0 255.255.0.0 U 600 0 0 wlp2s0
169.xxx.x.x 0.0.0.0 255.255.0.0 U 1000 0 0 wlp2s0
192.168.131.0 10.0.0.161 255.255.255.0 UG 0 0 0 wg0
Magni's Kernel IP routing table
Destination Gateway Genmask Flags Metric Ref Use Iface
0.0.0.0 10.147.x.x 0.0.0.0 UG 600 0 0 wlan0
10.0.0.0 0.0.0.0 255.255.255.0 U 0 0 0 wg0
10.19.xxx.xxx 10.147.x.x 255.255.255.255 UGH 600 0 0 wlan0
10.147.x.x 0.0.0.0 255.255.0.0 U 600 0 0 wlan0
192.168.131.0 0.0.0.0 255.255.255.0 U 0 0 0 enxb827eb452fa3
Jetson's Kernel IP routing table
Destination Gateway Genmask Flags Metric Ref Use Iface
10.0.0.0 192.168.131.1 255.255.255.0 UG 0 0 0 ...
to be honest this is a routing / network configuration problem, and not something specific to ROS. I understand why you posted here on ROS Answers, but it may be more efficient to ask your question elsewhere (with a focus on networking), as that would probably garner quite a few more answers.
ROS Answers is really about questions about ROS.