44 lines
2.2 KiB
Plaintext
44 lines
2.2 KiB
Plaintext
# sanad_api_g1t — copy to .env and fill in. (G1 telemetry; sibling of the G1 map agent.)
|
|
|
|
# ── fleet server (REQUIRED — YS Lootah gives you these two) ──────────────────
|
|
SERVER_URL=https://fleet.example.com
|
|
DEVICE_TOKEN=REPLACE_WITH_DEVICE_TOKEN
|
|
|
|
# ── identity ─────────────────────────────────────────────────────────────────
|
|
# Use the SAME sn as the G1 map agent — it's the same physical robot.
|
|
SN=g1_7892
|
|
|
|
# ── DDS (reading robot state — unitree_hg, same family as R1) ────────────────
|
|
# G1 DDS link is usually eth0.
|
|
DDS_INTERFACE=eth0
|
|
DDS_DOMAIN=0
|
|
# MAC_INTERFACE=eth0
|
|
|
|
# ── status / position ────────────────────────────────────────────────────────
|
|
# Read the loco FSM for a richer status (READ-ONLY GET RPC, never moves).
|
|
# 0 = derive status from battery + joint motion (safe default).
|
|
G1_READ_FSM=0
|
|
# Position source:
|
|
# odom (default) — firmware leg-odometry x,y from rt/lf/odommodestate (drifts, resets at boot)
|
|
# rosbridge — map-frame /odom over rosbridge (needs the nav bringup + ROSBRIDGE_URL)
|
|
# none — omit position
|
|
G1_POSITION_SOURCE=odom
|
|
ROSBRIDGE_URL=ws://127.0.0.1:9090
|
|
|
|
# ── fault thresholds ─────────────────────────────────────────────────────────
|
|
LOW_SOC=15
|
|
MOTOR_TEMP_MAX=85
|
|
|
|
# ── cadence / transport ──────────────────────────────────────────────────────
|
|
POLL_INTERVAL=2
|
|
VERIFY_TLS=1
|
|
HTTP_TIMEOUT=10
|
|
|
|
# ── robot identity card (shown on the dashboard) ─────────────────────────────
|
|
ROBOT_BRAND=unitree
|
|
ROBOT_TYPE=humanoid
|
|
ROBOT_MODEL=g1
|
|
# Optional: Sanad data dir whose size is reported in storage (as /host/<path>
|
|
# when the installer's read-only /:/host mount is used). Empty = omit.
|
|
STORAGE_DATA_PATH=
|