Hey @flobotics,
Disclaimer: I have no affiliation to AWS whatsoever.
However, I have done something like this (connection to an EC2 instance) in the past using eprosima’s integration service
There are some other ways that might work such as setting up a VPN and or setting up the remote machine as an initial peer
Both of these use Fast DDS which is no longer the default middleware for galatic, so you might have to change your rmw implementation