@AndrewZ: Not me, but there’re icons on the diagram
Okay, got it! 
@Arielis:
Thus, if it’s just a matter of A-to-B on the same lan or the zt network it should be trivial. If those are Windows PCs be aware that the network profile for the zt interface in the firewall is usually defaults to public. This also assumes that “Core Networking Diagnostics - ICMP Echo Request” is enabled in the firewall.
However, if you wan’t ZeroTeri LAN communcations the same principle as points 1 and 2 still applies. Thus, if you want B and others on the ZeroTier network to be able to communcate to all nodes on the 192.128.1 LAN than add the following route to you main router:
“route add 10.147.17.0/24 dest 192.168.1.10”
And as AndrewZ pointed out, the PI is a good candiadate to run zt on.
Btw, Packet Forwarding must to be enabled on the zt-node acting as a zt router. If running Windows have a look at: “Ping other system out of ZeroTier IP”