I have designed a mobile robot with a BeagleBone blue handling the low level motor control and sensor interfacing and a RPi4 to handle the higher level vision, localization, mapping & path planning. Communication between the Pi and Beaglebone needs to happen over a network connection using a messaging system called LCM (similar to ROS messages), and ideally that network needs to be accessible from my laptop nearby the robot. Also it would be great if all three (RPi, BBBlue, laptop) could connect the internet at the same time.
The current setup I have is this: The Beaglebone creates its default SoftAP and connects to a WiFi router that has internet. By default, computers connecting to the SoftAP get the internet forwarded to them so both the laptop and the RPi can connect to the internet and I can ssh and remote desktop into the RPi from the laptop and ssh into the Beaglebone as well. All three appear on the same LAN (192.168.8.0) and all the LCM traffic is visible on the network. The problem I have is this. I would rather have the network connection between the Pi and BBBlue be over USB so there is higher bandwidth/lower latency connection between them because ultimately the largest share of data is going to be produced on the Pi (video / LIDAR messages / maps etc.), not the Beaglebone and I would like to be able to decode it on the laptop with as little latency as possible. Should I achieve this by bridging some of the interfaces? Should this be done using NAT? Perhaps the best option is to scrap the SoftAP on the Beaglebone and implement it on the RPi instead? Basically I want to configure the RPi and BBBlue in such a way that I don't need to attach a standalone wireless router on the robot, and I feel like I shouldn't need to. -p -- For more options, visit http://beagleboard.org/discuss --- You received this message because you are subscribed to the Google Groups "BeagleBoard" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. To view this discussion on the web visit https://groups.google.com/d/msgid/beagleboard/f5e2cdde-a23c-4e53-99de-5c60db0877e6o%40googlegroups.com.
