OpenVPN

For SARWAI's purpose of creating a modular network, a common network needs to be establish for which all other ROS machines will be conntected through. The OpenVPN will be setup server side. The setup and steps will are found here: https://www.digitalocean.com/community/tutorials/how-to-set-up-an-openvpn-server-on-ubuntu-16-04#step-1-install-openvpn

• For this setup Persistent IP tables rules may need to be set. Information and setup can be found her: http://dev-notes.eu/2016/08/persistent-iptables-rules-in-ubuntu-16-04-xenial-xerus/

• The IPs created from both the server and the clients will need to be attached to the environment variable

  • $ROS_MASTER_URI

  • $ROS_IP

• Once OpenVPN is setup the following commands will be run to Start the Network

  • Server Command:

    • sudo systemctl start openvpn@server

  • Client Command

    • sudo openvpn --config client1.ovpn

• NOTE: For the Setup of OpenVPN Tunneling was used over TAP, as the complexity of Tunneling was lesser. TAP is not insured to work.