Network

A reliable local network is essential for communication between all CPM Lab devices. A dedicated router creates the local network of the CPM Lab. Do not connect this network to the internet or other networks: the devices in the CPM Lab are not secured for that. Only the central workstation is connected to the internet, through a second network interface.

Every CPM Lab uses the network layout below. The muCar image, the vehicle controller and the Zenoh configuration expect these addresses, so do not change them. Additional computers, e.g. a computation unit for the IPS or a laptop that runs a motion planner, get addresses from 192.168.1.100 upwards, e.g. 192.168.1.121.

        ---
config:
  layout: elk
  startOnLoad: false

---
graph TD
   I@{shape: cloud, label: "Internet"}
   C[Central Workstation\n192.168.1.249]
   R[Router\n192.168.1.1]
   subgraph "192.168.1.1xx"
      E1[Compute 1\n192.168.1.121]
   end
   subgraph "192.168.1.0xx"
      M1["muCar 1\n192.168.1.21"]
      DOTS2["..."]
      M20["muCar 20\n192.168.1.40"]
   end

   C --- I
   C --- R
   R --- E1
   R --- M1
   R --- DOTS2
   R --- M20

   linkStyle 4 stroke:transparent
   style DOTS2 fill:transparent,stroke:transparent,color:#111

CPM Lab Network Diagram

Configuration Steps:

  1. Set the Wi-Fi SSID to: CPM-Lab

Internal content

You are part of the development team? Read this part in the internal documentation.

  1. Set the Wi-Fi Password to a password of your lab (WPA2, at least 8 characters). The same SSID and password go into image/secrets.env of the vehicle workspace when you build the muCar image, see muCar.

  2. Change the subnet scheme to: 192.168.1.x/24

  3. Connect the central workstation via wired ethernet.

  4. Assign a static IPv4 address to the central workstation via DHCP reservation: 192.168.1.249

  5. Assign a static IPv4 address to each muCar via DHCP reservation: 192.168.1.21 - 192.168.1.40 (vehicle ID + 20)

Warning

We recommend enabling MAC address filtering on the router to restrict access to the local network to the central workstation, the muCars and the computers registered by the lab staff, see Running Your Planner in the Lab.

Router configuration page with the DHCP reservations of the workstation and the muCars

DHCP reservations in the router: 192.168.1.249 for the central workstation and 192.168.1.21 - .40 for the muCars

For selecting an appropriate router, consider the following minimal requirements:

  • Support for WPA2 security protocols

  • Support for DHCP to assign IPv4 addresses

  • Support for 2.4GHz Wi-Fi band

  • At least 1 Ethernet port for wired connections

List of known routers used:

  • Asus RT-AX88U Pro

  • Linksys EA9500