Allows to connect to the robot from anywhere in the world
Go to my zerotier and make an account. From there you can create a network with those settings:
Any device that joins this virtual network will behave as if it connected to an ethernet switch with all the other devices.
sudo bash install.sh
To join a network type zerotier-cli join XYZ where XYZ is the network ID.
Make a backup of /etc/network/interfaces (cp /etc/network/interfaces /etc/network/interfaces.back)
and replace it with mv zeroteir_interfaces /etc/network/interfaces and edit it to have the correct IP and the zerotier network name (which can be found with ifconfig)
You will have to authenticate the device from the network interface. Additionally allow Ethernet Bridging to access devices on the ethernet network via the VPN. Type in the PI's ip as shown:
Note: To be able to ssh into the pi you will need to remove the ListenAddress lines at the bottom of /etc/ssh/sshd_config which will enable people to ssh from WiFi. This is a security issue so either change the password (and document it somewhere) or setup key based login. The most recent time I got this working I didn't assign an IP via the zerotier interface - just the bridge interface on the pi
Note: It is quite possible to get locked out during this process so have a SD card reader and/or UART adapter ready to ger access to the pi
On newer versions of Raspbian the network boot order is changed so the interface doesn't get added to the bridge. As a workarround add
printf "Restarting bridge interface..."
ifdown br0
sleep 2
ifup br0
to your /etc/rc.local. From here
follow instructions on here