I have a ROS2 network with multiple devices. Over time the devices’ bond change, so it could be connected over one network at the start and with another later on.
At the moment the devices can discover each other, but when the network link between two of them changes they lose connection for about 250 seconds
Any idea how I could do a periodic peer re-discovery or something analog?
The two networks I’m using are as follows:
- The main one is a direct LAN link, but that has a limited range, so when the two devices loose sight of each other it switches to the second network;
- The second one is a global WAN link using 4G modem and linked together using a ZeroTier VPN
I hope someone can help me as this 250s delay between rediscovery is too long for my application