MIL Network

MIL uses a standardized network infrastruction that is available in MIL’s rooms and is duplicated for field testing by the network box.

LAN

The MIL Lan uses subnet 192.168.37.0 with mask 255.255.255.0. In other words, all local devices on MIL’s network will have an ipv4 address in the form 192.168.37.x.

Allocation Table

The following is a list of expected static IP addresses on MIL networks:

IP	Name
Network Infrastructure (19)
192.168.37.1	Router
192.168.37.19
Physical Servers (9)
192.168.37.20	esxi-1
192.168.37.21	idrac-esxi-1
192.168.37.29
Virtualized Servers (19)
192.168.37.30	balin
192.168.37.31	dc-1
192.168.37.32	dc-2
192.168.37.33	fs-1
192.168.37.34	web
192.168.37.35	pwd
192.168.37.36
192.168.37.37	acs
192.168.37.38	pdm
192.168.37.39	av
192.168.37.40	svn
192.168.37.41
192.168.37.42	app-1
192.168.37.49
MIL Common (9)
192.168.37.50	com-gateway
192.168.37.51	com-velodyne-vlp16
192.168.37.52	com-sick-lms111
192.168.37.53	com-teledyne-p900
192.168.37.59
SubjuGator (9)
192.168.37.60	sub8
192.168.37.61	navtube (RPi)
192.168.37.62	downcam
192.168.37.63	ipmi
192.168.37.69
Reserved (9)
192.168.37.70
192.168.37.79
NaviGator (9)
192.168.37.80	nav-ubnt-shore
192.168.37.81	nav-ubnt-wamv
192.168.37.82	nav-wamv
192.168.37.89
Reserved (9)
192.168.37.90
192.168.37.95	waterlinked (sub8 DVL)
192.168.37.99
Reserved Clients (19)
192.168.37.100	cad-1
192.168.37.101	cad-2
192.168.37.102	shuttle
192.168.37.103	johnny-five
192.168.37.119
Assigned Clients (29)
192.168.37.120	WLC0002
192.168.37.121	daniel
192.168.37.125	keith
192.168.37.137	cbrxyz (cameron)
192.168.37.140
DHCP Pool (99)
192.168.37.150	DHCP Pool Start
192.168.37.249	DHCP Pool End
Reserved (4)
192.168.37.250
192.168.37.253
192.168.37.254	new pfsense vm

DHCP

The MIL network has a DHCP server which will assign a local IP to connected devices automatically. Some important devices, such as servers and vehicles, have a static IP address. Other devices are given the next unused IP from the pool within 192.168.37.150 to 192.168.37.249.

Connect to Robot / other ROS networks

ROS can be configured to talk only on your local machine, or allow communication from your machine to another, such as one of our robots or a simulation server.

This is done using ROS environment variables.

Assuming you have followed the Getting Started Guide, you can use the function ros_connect to set this up.

Run ros_connect -h for an up to date list of options. For example, run ros_connect sub to setup this terminal (and children terminals, such as a tmux session) to allow your ros nodes, such as rviz, to talk to the ros nodes on SubjuGator.