OEM Configuring Static IP on Vehicles

Static IP address is set in the file "/etc/network/interfaces".

  • Copy that file to "/etc/network/interfaces.Microhard" to indicate it was used with the OEM radio.
  • Edit the interfaces file to change the IP address to the vehicle's computer address and the gateway address to 192.168.1.1


The new interfaces file should look like this: 

 
# This file describes the network interfaces available on your system
# and how to activate them. For more information, see interfaces(5).

# The loopback network interface
auto lo eth0

iface lo inet loopback

iface eth0 inet static

     # X = IP address of the vehicle's computer (e.g., evan = 192.1681.1.175)
     address 192.168.1.X
     netmask 255.255.255.0
     broadcast 192.168.1.255
     gateway 192.168.1.1

     # ONLY FOR UBUNUTU 12.04 and newer
     # (for prior to 12.04 you need a resolv.conf file)
     dns-nameservers 8.8.8.8

auto eth1
iface eth1 inet dhcp


Ubuntu systems prior to 12.04 require a manually-modified /etc/resolv.conf file: 

 
# ONLY EDIT THIS FILE on Ubuntu version prior to 12.04
# On 12.04 and newer, add "dns-nameservers 8.8.8.8" following line to /etc/network/interfaces

nameserver 8.8.8.8
nameserver 192.168.1.1

Also edit the /etc/hosts file to have quick access to the other known computers on the network: 

 
# The computer this file is on should be assigned to localhost (this sample is for evan)
127.0.0.1	 localhost
127.0.1.1	 evan

192.168.1.170    jing
192.168.1.171    kirk
192.168.1.175    evan
192.168.1.176    felix
192.168.1.177    gus
192.168.1.178    hal
192.168.1.179    Ida
192.168.5.100    pabloE
192.168.6.100    pabloF
192.168.7.100    pabloG
192.168.8.100    pabloH
192.168.9.100    pabloI
192.168.10.100   pabloJ
192.168.11.100   pabloK
192.168.12.100   pabloL


# The following lines are desirable for IPv6 capable hosts
::1     localhost ip6-localhost ip6-loopback
fe00::0 ip6-localnet
ff00::0 ip6-mcastprefix
ff02::1 ip6-allnodes

ff02::2 ip6-allrouters

Allow Robot to be Accessible Outside of the Lab

This is typically only used for troubleshooting. The following instructions describe the setup required to enable someone from outside of the lab's network to access one of the robots using SSH through port forwarding.

1) Use a web browser to access the lab router at 192.168.1.1

2) On the left hand side of the page click on the Security link under Router Settings

3) In the Security pane - click on the tab labeled Apps and Gaming

4) Select the heading 'Single Port Forwarding'

5) Scan the list to see if the IP/port forwarding is already there but not Enabled.

a) If it is on the list simply click on 'Edit' to set it to Enabled. Move on to step 6.

b) If the IP/port is not on the list click on 'Add a new Single Port Forwarding'

c) Choose an 'Application Name' that is descriptive - for this example we will use gusSSH because we are forwarding Gus' ssh port 22.

d) Choose an 'External Port' that will be used to access the 'Internal Port'. For our example we will select 9022.

e) For the 'Internal Port' select 22 as that is the default for SSH and will stay the same for Gus.

f) Keep the 'Protocol' set to 'Both'

g) The 'Device IP#' will be 192.168.1.177 as that is Gus' IP address in the local lab network.

h) 'Enabled' is checked.

i) Click on 'Save'

j) Click on 'Apply' at the very bottom of the page

6) Identify the external IP for the robot. While logged into Gus type this at the command prompt an note the IP address it responds with: 

 $ dig +short myip.opendns.com @resolver1.opendns.com

7) Access the robot from an external computer. At the command line log in with ssh with a couple of extra options. Remember to change out 'user', 'IP' and 'PORT' after -p to your appropriate values. 

 $ ssh user@IP -p 9022