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: <
http://lists.ros.org/mailman//options/ros-users>
(text/plain)