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This answer mentioning using DNS server should help you partially:

• https://answers.ros.org/question/228706/set-ros_master_uri-on-remote-robots/?answer=228710#post-id-228710

This is a situation in which a DNS server (which is coupled with / knows how to deal with your DHCP server) would work best. Instead of using IP addresses, you'd give hostnames to your robots and your PC, and then make sure the DNS server can resolve the hostnames to the IPs (and back).

The ROS Network Setup can also help (2.3-2.4).

Some links to resources I found regarding DNS for ROS etc.:

• https://topic.alibabacloud.com/a/use-ros-to-do-intranet-dns-server_8_8_31382387.html
• https://gist.github.com/ruffsl/4a24c26a1aa2cc733c64
• http://www.faqs.org/docs/securing/chap9sec95.html