You can find more details to this post in this tutorial.
How to set up Remote bridge:
Helpful links: https://husarion.com/tutorials/ros-tutorials/5-running-ros-on-multiple-machines/
https://github.com/Brabalawuka/RosOnWindows
Key instructions for remote windows:
1. Change ROS_MASTER URI (The rasp pi will be running roscore). You won't need to start roscore but you can if you want to run rostopic or rqt_plot
2. Create a .txt including following content: (Use your raspi ip address). Save as C:\bashrc.cmd at disk C (or another non-catkin_ws location).
@echo off
set ROS_MASTER_URI=http://192.168.1.19:11311
set ROS_IP=192.168.1.249
3. (Optional) Following step 2, open regedit: -> Win+R and enter regedit. Find [HKEY_LOCAL_MACHINE\Software\Microsoft\Command Processor] and add a string key named Autorun, value is C:\bashrc.cmd"
4. Run the cmd file in the Developer Command Prompt in VS22 "C:\bashrc.cmd". There were some issues with it autorunning in step 3
5. Use rosrun to execute the individual programs on remote machine.
Key instructions for raspi:
1. On the raspi device open the .bashrc file, then add the lines:
export ROS_MASTER_URI=http://192.168.1.19:11311
export ROS_IP=192.168.1.19
2. Start roscore