Hey @DorianGre,
Don’t have a schematic handy. Both the Jetson and the Pi were running ROS, and the Jetson had a node that subscribed to the image topic and published a /cmd_vel. The Pi was running the motor_node and publishing images.
In a more ideal setup the camera would have been connected directly to the Jetson, as that would allow us to run at a higher frame rate with a lower latency.
Rohan