I’m having some issue with my robot ecosystem and the remote connection.
The ecosystem is composed by:
- A drone where is running ROS 2 foxy connected to a router
- The router where is enabled a connection to a VPN net
- A ROS 2 foxy remote host connected to the same VPN net of the router
Based on these info, the drone is not directly connected to the VPN, the router will bridge remote connection from host connected to the same VPN net of the router.
In this VPN net the router and the remote host have, for ex, an ip class like this 10.10.10.x, instead the drone in the router net has an ip class like this 192.168.10.X
For ROS 1 the thing was easy having the ROS_MASTER on the drone, so I set on the drone the ROS_MASTER_URI, ROS_HOST_NAME and ROS_IP to its own ip, for ex, 192.168.10.1
On the remote host ROS_MASTER_URI to 192.168.10.1 and ROS_HOST_NAME and ROS_IP to the VPN ip of the host, for ex, 10.10.10.2
Thanks to this configuration, with ROS 1 i can do everything from the remote host (echo topic, call services, use rviz to visualize PCL and laser,…)
The thing on ROS 2 is not working, even if i set the ROS_DOMAIN to the same number on both, drone and remote host, i can’t echo topics created on the drone and other stuff to manage it.
What I’m worrying about is that the remote host and the drone are not under the same ip class so the udp broadcast of the ROS 2 on the drone doesn’t reach the remote host which is actually on another ip class
Instead on ROS 1 the thing works cause I give the address of the master and it s reachable through the VPN thanks to the bridging of the router.
Of course I can ping and ssh connect to the drone from the remote host without problems
Do you have any advise/suggestion to make it work?
I’m not doing anything special on the drone, I just launch a couple of ROS 2 packages for PCL and lidar managing, nothing more
I tried the following to understand if there’s a blocking firewall on the port, so on the drone I run
nc -u -l 7650
and on the remote host i run
nc -u 192.168.10.1 7650
and if I type a string on the remote host terminal where I run nc i can get that string on the drone terminal where I run nc