70 lines
2.6 KiB
Bash
70 lines
2.6 KiB
Bash
# Optional absolute path override for the companion repo.
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# By default the scripts assume:
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# OmniSocketGo -> current repo
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# robot-command-center -> sibling directory next to OmniSocketGo
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# Example:
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# ROBOT_COMMAND_CENTER_ROOT="$HOME/Documents/robot-command-center"
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CONTROL_SIDE_OMNISOCKET_SERVER_ADDR="81.70.156.140:10909"
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CONTROL_SIDE_OMNISOCKET_RELAY_VIA="81.70.156.140:10909"
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ROBOT_SIDE_OMNISOCKET_SERVER_ADDR="81.70.156.140:10909"
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ROBOT_SIDE_OMNISOCKET_RELAY_VIA="106.55.173.235:10909"
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CONTROL_WS_ALLOWED_ORIGINS="http://127.0.0.1:5173,http://localhost:5173"
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VITE_API_BASE_URL="http://127.0.0.1:8001"
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PYTHON3_BIN="python3"
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PYTHON_VENV_PATH="${OMNISOCKETGO_ROOT}/.venv"
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BACKEND_HOST="0.0.0.0"
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BACKEND_PORT="8001"
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OMNISOCKET_TELEMETRY_PEER_ID="peer-a-telemetry"
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OMNISOCKET_TELEMETRY_INTERVAL_MS="1000"
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OMNISOCKET_TELEMETRY_STALE_AFTER_MS="3000"
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OMNI_NETWORK_SUMMARY_LOG_ENABLED="1"
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OMNI_NETWORK_SUMMARY_LOG_PATH="${OMNISOCKETGO_ROOT}/logs/a-network-summary.jsonl"
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OMNI_NETWORK_SUMMARY_LOG_INTERVAL_MS="5000"
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OMNI_NETWORK_SUMMARY_LOG_REQUEST_TIMEOUT_SEC="3"
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FRONTEND_HOST="0.0.0.0"
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FRONTEND_PORT="5173"
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ROS_DISTRO="jazzy"
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ROBOT_RECEIVER_TRANSPORT="unix_dgram"
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ROBOT_RECEIVER_SERVER_ADDR="${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR}"
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ROBOT_RECEIVER_RELAY_VIA="${ROBOT_SIDE_OMNISOCKET_RELAY_VIA}"
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ROBOT_RECEIVER_PEER_ID="ros-bridge-ctrl"
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ROBOT_RECEIVER_EXPECTED_SENDER=""
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ROBOT_RECEIVER_LOCAL_SOCKET_PATH="/tmp/omnisocket-b-side-cmd.sock"
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ROBOT_RECEIVER_OUTPUT_TOPIC="/hric/robot/cmd_vel"
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ROBOT_RECEIVER_FRAME_ID="pelvis"
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ROBOT_RECEIVER_WATCHDOG_TIMEOUT="0.5"
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ROBOT_RECEIVER_PUBLISH_RATE_HZ="100.0"
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OMNI_VIDEO_PEER_ID="peer-b-video"
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OMNI_VIDEO_TARGET_PEER="peer-a-video"
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OMNI_GPSD_HOST="127.0.0.1"
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OMNI_CAMERA_DEVICE="/dev/v4l/by-path/platform-a80aa10000.usb-usb-0:3.2:1.4-video-index0"
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OMNI_CAMERA_PROFILE="day"
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OMNI_CAMERA_BRIGHTNESS=""
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OMNI_CAMERA_CUSTOM_CTRL=""
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OMNI_CAMERA_VERIFY="0"
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OMNI_VIDEO_SERVER_ADDR="${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR}"
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OMNI_VIDEO_RELAY_VIA="${ROBOT_SIDE_OMNISOCKET_RELAY_VIA}"
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OMNI_VIDEO_SOFT_BACKPRESSURE_SEGMENTS="256"
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OMNI_VIDEO_HARD_BACKPRESSURE_SEGMENTS="1024"
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OMNI_VIDEO_HARD_BACKPRESSURE_HOLD_MS="5000"
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OMNI_VIDEO_FRAME_STALL_RECONNECT_MS="30000"
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OMNI_CONTROL_PEER_ID="peer-b-ctrl"
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OMNI_CONTROL_EXPECTED_SENDER="peer-a-ctrl"
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OMNI_CONTROL_SERVER_ADDR="${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR}"
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OMNI_CONTROL_RELAY_VIA="${ROBOT_SIDE_OMNISOCKET_RELAY_VIA}"
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OMNI_CONTROL_UNIX_SOCKET_PATH="${ROBOT_RECEIVER_LOCAL_SOCKET_PATH}"
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OMNI_CONTROL_SERVER_IDLE_RECONNECT_MS="30000"
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# A-side backend video freshness guard. Used by scripts/dev/start-backend.sh.
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OMNI_VIDEO_MAX_FRAME_AGE_MS="1000"
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B_SIDE_OMNID_USE_SUDO="1"
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