feat: 启动命令不用环境变量

scripts/dev/robot-remote.env

@@ -0,0 +1,49 @@
+# Optional absolute path override for the companion repo.
+# By default the scripts assume:
+#   OmniSocketGo -> current repo
+#   robot-command-center -> sibling directory next to OmniSocketGo
+# Example:
+# ROBOT_COMMAND_CENTER_ROOT="$HOME/Documents/robot-command-center"
+
+CONTROL_SIDE_OMNISOCKET_SERVER_ADDR="81.70.156.140:10909"
+CONTROL_SIDE_OMNISOCKET_RELAY_VIA="81.70.156.140:10909"
+
+ROBOT_SIDE_OMNISOCKET_SERVER_ADDR="81.70.156.140:10909"
+ROBOT_SIDE_OMNISOCKET_RELAY_VIA="106.55.173.235:10909"
+
+CONTROL_WS_ALLOWED_ORIGINS="http://127.0.0.1:5173,http://localhost:5173"
+VITE_API_BASE_URL="http://127.0.0.1:8001"
+
+PYTHON3_BIN="python3"
+PYTHON_VENV_PATH="${OMNISOCKETGO_ROOT}/.venv"
+
+BACKEND_HOST="0.0.0.0"
+BACKEND_PORT="8001"
+
+FRONTEND_HOST="0.0.0.0"
+FRONTEND_PORT="5173"
+
+ROS_DISTRO="jazzy"
+ROBOT_RECEIVER_TRANSPORT="unix_dgram"
+ROBOT_RECEIVER_SERVER_ADDR="${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR}"
+ROBOT_RECEIVER_RELAY_VIA="${ROBOT_SIDE_OMNISOCKET_RELAY_VIA}"
+ROBOT_RECEIVER_PEER_ID="ros-bridge-ctrl"
+ROBOT_RECEIVER_EXPECTED_SENDER=""
+ROBOT_RECEIVER_LOCAL_SOCKET_PATH="/tmp/omnisocket-b-side-cmd.sock"
+ROBOT_RECEIVER_OUTPUT_TOPIC="/hric/robot/cmd_vel"
+ROBOT_RECEIVER_FRAME_ID="pelvis"
+ROBOT_RECEIVER_WATCHDOG_TIMEOUT="0.5"
+ROBOT_RECEIVER_PUBLISH_RATE_HZ="100.0"
+
+OMNI_VIDEO_PEER_ID="peer-b-video"
+OMNI_VIDEO_TARGET_PEER="peer-a-video"
+OMNI_CAMERA_DEVICE="/dev/video26"
+OMNI_VIDEO_SERVER_ADDR="${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR}"
+OMNI_VIDEO_RELAY_VIA="${ROBOT_SIDE_OMNISOCKET_RELAY_VIA}"
+OMNI_CONTROL_PEER_ID="peer-b-ctrl"
+OMNI_CONTROL_EXPECTED_SENDER="peer-a-ctrl"
+OMNI_CONTROL_SERVER_ADDR="${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR}"
+OMNI_CONTROL_RELAY_VIA="${ROBOT_SIDE_OMNISOCKET_RELAY_VIA}"
+OMNI_CONTROL_UNIX_SOCKET_PATH="${ROBOT_RECEIVER_LOCAL_SOCKET_PATH}"
+
+B_SIDE_OMNID_USE_SUDO="1"