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
.
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.