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Reviving this just because this is still something people need to figure out, & I wrestled with this too.

The connection out for my robot is different than the IP range for the network connection to the Hokuyo, so I needed to edit /etc/network/interfaces to have an eth0 and an eth1 interface. I also needed to keep in mind that the metrics for both interfaces needed to be such that eth0 has a lower metric than eth1. Here is the link to the ubuntu manpage for that file. If you want to view the metric info for your interfaces, then route -n will tell you that.