36 lines
2.0 KiB
Plaintext
36 lines
2.0 KiB
Plaintext
# sanad_api_r1 — copy to .env and fill in. docker compose reads it automatically.
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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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# This robot's fleet id, sent in the telemetry body as "sn". Set the real R1 id.
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SN=r1_0000
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# ── DDS (reading robot state) ────────────────────────────────────────────────
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# The R1 backpack link is eth10 (SanadR1 default). Use the interface that sees
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# the robot's DDS traffic. Domain 0 unless your robot is configured otherwise.
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DDS_INTERFACE=eth10
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DDS_DOMAIN=0
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# Which NIC's MAC to report as the robot identity (defaults to DDS_INTERFACE).
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# MAC_INTERFACE=eth10
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# ── status / position options ────────────────────────────────────────────────
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# Read the loco FSM for a richer status (READ-ONLY GET RPC, never commands
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# motion). 0 = derive status from battery + joint motion only (safe default).
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R1_READ_FSM=0
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# Position source: none (default) | rosbridge. The R1 localizes with stereo VSLAM
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# on the ROS side; set 'rosbridge' + ROSBRIDGE_URL to report x,y from /odom.
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R1_POSITION_SOURCE=none
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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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