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docs: Add static IP allocation table
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cbrxyz committed Aug 8, 2024
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MIL Network
###########

MIL uses a standardized network infrastruction that is available
in MIL's rooms and is duplicated for field testing by the :doc:`network box<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 |
+------------------------+--------------------------+
| 192.168.37.137 | 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 <http://wiki.ros.org/ROS/NetworkSetup>`_.

Assuming you have followed the :doc:`Getting Started Guide</software/getting_started>`,
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.

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