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Connecting Remote Robots Using ROS2, Docker & VPN

路 21 min read
Dominik Nowak
CTO @ Husarnet

ROS 2 is a next gen Robot Operating System, a leading middleware and ecosystem for developing software for autonomous robots and even for autonomous vehicles. ROS provides a decentralized architecture with so called Nodes responsible for specific tasks as complex as path planning, SLAM (Simultaneous Localization and Mapping) or just processing single sensor data.

ROS 2 nodes can automatically discover each other when ROS 2 powered robots or computers are connected to the same Wi-Fi network. Doing the same over the internet is more challenging. I will however show you how to do that in an easy way!

In this article you will learn:

  • how to connect ROS 2 nodes running in different networks to a single ROS 2 system
  • how to install, configure and use VPN client
  • how to configure DDS to enable communication over VPN
  • how to do everything above with Docker and Docker-Compose to make your life easier

Let's do it!

Using Husarnet Docker Image

路 9 min read
Pawe艂 Kozubal
Software Developer @ Husarnet

In the recent blog posts we presented how to embed Husarnet VPN Client inside a Docker container. This solution is fine, however has a few drawbacks like:

  • you need to modify your existing containers
  • you need to install one instance of Husarnet Client for each of the containers you want to connect (and manage multiple hostnames)

To overcome those issues we introduced an official Husarnet Docker Image, that utilizes a sidecar Docker design pattern. You can run this container next to your existing containers to share the VPN network from a Husarnet Container to one or multiple other containers at once.

Hosting WebRTC Server on IP Camera

路 11 min read
Konrad Przew艂oka
Software Developer @ Husarnet

Popular industrial and home monitoring systems are based on a central media server that connects cameras with the end users. This architecture is fine for most use cases, however have some drawbacks such as: higher latency, privacy concerns (if you use 3rd party server), and high cost.

In the article we present a peer-to-peer alternative: let's remove a media server and directly access a camera streaming service running on the camera itself.

The project is based on WebRTC for audio and video streaming to a web browser. Access to the server over the Internet is possible thanks to Husarnet VPN Client.

Here are some of the advantages of our solution:

  • low latency over the Internet
  • simple infrastructure architecture (only your laptop and Internet camera)
  • quick setup (everything is dockerized)

Basically all WebRTC infrastructure is hosted on the Internet camera (Single Board Computer + webcam) together with a simple web server.

SSH Access to VM-like Containers

路 8 min read
Pawe艂 Kozubal
Software Developer @ Husarnet

Docker Containers provide some level of isolation, but unfortunately, not enough if you want to give full access to someone who you do not trust.

馃攼 In this blog post we will show you a much safer alternative: Kata Containers that provide VM-like isolation for your container, while keeping the simplicity of Docker ecosystem.

馃挕 As an example use-case we will configure a VPN client and SSH server inside Kata Container, that can be securely exposed to untrusted users of your service. Doing the same with pure Docker would be very risky.

Thanks to Husarnet P2P VPN used in this example you can provide a secure and quick access to isolated containers in an easy way.

Use VPN in a Docker Container

路 8 min read
Dominik Nowak
CTO @ Husarnet

Encapsulating software within a container brings a lot of benefits, such as quicker deployment, easier development and - last but not least - isolation of your host system from the application.

In this blog post I will show you how to install and configure a VPN client directly inside a docker container without a need of installing anything on your host system.

Thanks to that other computers from a VPN network will have access only to that container and not to your host system!

Because a container has it's own VPN IPv6 network, you can also easily move that container to other hosts without changing anything in your system configuration.

I will show you how to do that in a few easy steps...

Host a Private Website With No Static IP

路 10 min read
Dominik Nowak
CTO @ Husarnet

In this article I present how to host a web app on your Raspberry Pi (or other computers) with a couple of interesting features.

  • 鉀 no static IP address, Dynamic DNS or port forwarding on your router needed
  • 馃殌 low latency access over the public Internet without server in the middle
  • 馃攣 possibility to easily share access to that web app only to specific people

The web app will consist of two elements:

  • 鉁忥笍 front-end: using Bootstrap 4 and websocket client written in JS
  • 鉁忥笍 back-end: Python app with a websocket server providing a JSON API to the front-end part

I show a bi-directional connection over a single websocket. The demo application will be very simple - controlling a LED connected to Raspberry Pi using a button in web UI and controlling an indicator in the web UI over the button connected to Raspberry Pi.

馃挱 You can treat this app as a boilerplate code for your own, more sophisticated apps requiring a low-latency control over a web user interface.

Remote Desktop Over The Internet

路 11 min read
Dominik Nowak
CTO @ Husarnet

Remote Desktop Software helps you access your headless (without physical display, mouse or keyboard) computer or server desktop over the network.

There are many different solutions available using RDP, RFB (VNC) or proprietary protocols. Some of them are open source and free to use, but many of them are quite expensive. In this article I will show you how to configure one of them - TigerVNC which works great, is open source, multiplatform and is completely free.

I will also show you how to access remote desktop of your computer over the Internet even if it doesn't have a static IP, or is hidden behind a NAT or a firewall.

Access Raspberry Pi Remotely

路 10 min read
Dominik Nowak
CTO @ Husarnet

This blog post is an all-in-one setup guide for all of you interested in having both over the internet (remote) and LAN access to SSH terminal for your Raspberry Pi.

  • 鉀 no port forwarding on your router
  • 鉀 no static IP needed
  • 鉀 no VPN server configuration

We start from installing the Raspberry Pi system image, then go through configuration of Wi-Fi connection, finishing on establishing VPN network between your laptop and Raspberry Pi.

Let's start!

ESP32 OTA Over The Internet

路 5 min read
Dominik Nowak
CTO @ Husarnet

There are a lot of examples on the internet about how to perform OTA (Over-The-Air firmware update) to your ESP32 as long as your chip is in the same LAN as your computer.

While Husarnet is basically a VPN software which works not only on your laptop, but also on your ESP32, it's easy to port exisitng OTA examples to work over the Internet. I'll show you how to to that.