The most interesting setup I used was: * a mobile robot with 2 PCs. One of these ran a OpenVPN server * wired to a router * that router bridged to a WLAN with multiple access points * the care home's (in which the robot worked) network was configured to port-forward to the OpenVPN server * A control station some 60-70km away VPNed into the robot. This resulted in a ca. 100ms ping time. With this, I could teleop the robot's base and arms using the on-board Kinect, so OK data rate as well. Lessons learned: - Tuning a multi-access point WLAN, where the robot roams between APs, is some work. Contrary to my intuition at the time, is that you do *not* want to have each AP at a high power but instead low. That way, the robot switches to the now-closest AP faster, yielding a better connection. WiFi is designed to stay 'attached' to the current AP as long as it gets a signal, even though it may be weak. Dropping a low signal early is better in that case. - Running the VPN server on the robot is not the way to go... The server should be on a public IP, the robot behind a firewall. --- [Visit Topic](https://discourse.ros.org/t/experiences-with-distributed-ros/1768/2) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: