36 lines
1.9 KiB
Plaintext
36 lines
1.9 KiB
Plaintext
# sanad_api_g1t — copy to .env and fill in. (G1 telemetry; sibling of the G1 map agent.)
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# ── fleet server (REQUIRED — YS Lootah gives you these two) ──────────────────
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SERVER_URL=https://fleet.example.com
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DEVICE_TOKEN=REPLACE_WITH_DEVICE_TOKEN
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# ── identity ─────────────────────────────────────────────────────────────────
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# Use the SAME sn as the G1 map agent — it's the same physical robot.
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SN=g1_7892
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# ── DDS (reading robot state — unitree_hg, same family as R1) ────────────────
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# G1 DDS link is usually eth0.
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DDS_INTERFACE=eth0
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DDS_DOMAIN=0
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# MAC_INTERFACE=eth0
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# ── status / position ────────────────────────────────────────────────────────
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# Read the loco FSM for a richer status (READ-ONLY GET RPC, never moves).
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# 0 = derive status from battery + joint motion (safe default).
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G1_READ_FSM=0
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# Position source:
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# odom (default) — firmware leg-odometry x,y from rt/lf/odommodestate (drifts, resets at boot)
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# rosbridge — map-frame /odom over rosbridge (needs the nav bringup + ROSBRIDGE_URL)
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# none — omit position
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G1_POSITION_SOURCE=odom
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ROSBRIDGE_URL=ws://127.0.0.1:9090
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# ── fault thresholds ─────────────────────────────────────────────────────────
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LOW_SOC=15
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MOTOR_TEMP_MAX=85
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# ── cadence / transport ──────────────────────────────────────────────────────
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POLL_INTERVAL=2
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VERIFY_TLS=1
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HTTP_TIMEOUT=10
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