Running ROS on multiple machines in a remote environment

edit

Hello.

I'm suffering form problem described below. These are link of organized picture of problem.

https://ibb.co/xYgQpkv

https://ibb.co/NWxd7Vg

I have two routers, one in the home and the other in the lab. Both routers have public ip.

laptop (Master) and desktop are connected to home router, and server is connected to lab router. I set DMZ to my laptop and server.

Laptop and desktop can communicate each other by ros topic. Laptop and server can communicate each other by ros topic. But, Desktop and server cannot communicate each other by ros topic. Topic only goes one direction. (server to desktop)

Settings of Laptop

1. Network router

   DMZ for laptop local ip (Allow every port for Master)

2. /etc/hosts

   Laptop_local_ip laptop

   Desktop_local_ip desktop

   Lab_public_ip server

3. ~/.bash

   ROS_MASTER_URI=http://laptop:11311

   ROS_HOSTNAME=laptop

   ROS_IP=laptop

Settings of Desktop

1. Network router

   Nothing

2. /etc/hosts

   Laptop_local_ip laptop

   Desktop_local_ip desktop

   Lab_public_ip server

3. ~/.bash

   ROS_MASTER_URI=http://laptop:11311

   ROS_HOSTNAME=desktop

   ROS_IP=desktop

Settings of Server

1. Network router

   DMZ for server local ip

2. /etc/hosts

   Server_local_ip server

   Home_public_ip laptop

   Home_public_ip desktop

3. ~/.bash

   ROS_MASTER_URI=http://laptop:11311

   ROS_HOSTNAME=server

   ROS_IP=server

Please help me. Thank you!