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For ROS1, by example:-

Machine1 [MASTER]:

• Will run [roscore], but don't run it yet till configurations are done.

• Has an IP of 192.168.1.10

1- Run the following in the terminal:

1.1- export ROS_MASTER_URI=http://192.168.1.10:11311

1.2- export ROS_IP=192.168.1.10

2- Now, run roscore

Machine2 {SLAVE}

• Will NOT run roscore.
• Has and IP 192.168.1.15

1- Run the following in the terminal:

1.1- export ROS_MASTER_URI=http://192.168.1.10:11311

1.2- export ROS_IP=192.168.1.15

2- Now, you are connected to the Master.

For completion, ROS2 will populate the information on the LAN out of the box without any configuration.