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The vehicle Raspberry software is cross-compiled from the master PC. The build script git:software/vehicle_raspberry_firmware/build.bash creates an archive of the compiled software and other required files and publishes it via Apache. The bootloader_raspberry.bash autostart script on the Raspberry downloads and runs this software.

ARP Table Generation

Because unsuccessful ARP requests sometimes block communication a static ARP table is sometimes useful. To generate one one needs to switch on all participants, ping each one from the main PC and then output the arp table on the main pc with e.g. https://man7.org/linux/man-pages/man8/ip-neighbour.8.html (newer) or arp -a (old).
The info can then be used to feed a script that sets up the arp entries statically for the participants. Currently this is done in https://git.rwth-aachen.de/CPM/Project/Lab/software/-/blob/feature/fastdds/mid_level_controller/package/start.bash and the static arp table is part of the package.