# Network

The robot is equipped with an on-board Wi-Fi router, allowing for easy access, updates, and management of multiple connected devices.

By default, the robot is configured with an independent Wi-Fi access point. SSIDs follow a pattern:

- **hb50_XXXX** — for the 2.4 GHz network,
- **hb50_XXXX_5G** — for the 5 GHz network.

Where XXXX is robot serial code shortened to 4 hex symbols - e.g. "hb50_AFAB" or "hb50_D71C_5G".
Default password to the network is: `milkaorzechowa`.

The router also hosts DNS server, allowing for easy SSH connections.

```{figure} ./img/network.png
:alt: network
:class: bg-primary mb-1
:align: center
:class: no-scaled-link
```

```{note}
Due to ROS 2 constraints, when a node (such as `remote_node`) is launched *before* the network connection is established (IP address resolved), it usually fails to properly discover and detect other ROS 2 nodes, topics, and services.

Before starting any node that will interoperate with Honey Badger, make sure you are connected to the correct network.
```

## ROS 2 and SSH

Both of the robot's onboard computers can be accessed via ROS 2 or directly with SSH.

### SSH

The robot's DNS server uses 10.11.0.1 as the base address (also the router address), and both LPC and APC have static IP addresses:

| Device | Static Address | Hostname | Username |
| --- | --- | --- | --- |
| LPC | 10.11.0.10 | hb50.lan | hb |
| APC (Orin) | 10.11.0.11 | hb50-orin.lan | hb-orin |
| Steam Deck | Dynamic IP | deck.lan | mab |

### ROS 2

By default, the robot uses `ROS_DOMAIN_ID` 69, so the robot's topics should be visible shortly after power-up. Ensure your client uses the same `ROS_DOMAIN_ID` when interacting with the robot.