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legop3
2025-11-13 22:17:29 -05:00
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docs/pi-deployment.md
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@@ -55,7 +55,7 @@ Flags:
| `--mediamtx` | download/install mediaMTX plus the provided config + unit |
| `--mediamtx-version X.Y.Z` | override the mediaMTX release tag (default `1.15.3`) |
If the script installs the sample config, it will remind you to edit `/etc/roverd.yaml` before manually restarting the service: set `name`, `serverUrl`, serial device, BRC pin, battery thresholds, and the WHEP URL that the central server should expose.
If the script installs the sample config, it will remind you to edit `/etc/roverd.yaml` before manually restarting the service: set `name`, `serverUrl`, serial device, BRC pin, battery thresholds, and the `media.publishUrl` that points at your central mediaMTX WHIP endpoint (for example `https://control-server.local/whip/roomba-alpha`).
## Manual installation
@@ -65,7 +65,7 @@ If the script installs the sample config, it will remind you to edit `/etc/rover
sudo install -o roverd -g roverd -m 0755 dist/roverd /usr/local/bin/roverd
sudo install -o roverd -g roverd -m 0640 pi/roverd/roverd.sample.yaml /etc/roverd.yaml
```
Adjust `/etc/roverd.yaml` for each rover: `name`, `serverUrl` (e.g. `ws://control-server:8080/rover`), serial port path, battery thresholds, GPIO pin for BRC, and the media WHEP URL that points at the central distribution server.
Adjust `/etc/roverd.yaml` for each rover: `name`, `serverUrl` (e.g. `ws://control-server:8080/rover`), serial port path, battery thresholds, GPIO pin for BRC, and the media `publishUrl` that points at the central media server’s WHIP endpoint for that rover.
2. Install the systemd unit:
```bash
@@ -92,8 +92,9 @@ If you set `media.manage: true` in `/etc/roverd.yaml`, make sure the `roverd` se
sudo systemctl enable --now mediamtx.service
```
The sample config uses the Raspberry Pi camera module as the source and exposes a WHEP endpoint at `http://<pi-host>:8889/whep/rovercam`. Point `media.whepUrl` in `roverd.yaml` at this URL so the central server can list it.
Expose the mediaMTX HTTP API locally (default `http://127.0.0.1:9997`) and set `media.healthUrl` so `roverd` can monitor the pipeline; `media.service` should match the systemd unit name (default `mediamtx.service`).
The sample config uses the Raspberry Pi camera module as the source and enables the local mediaMTX HTTP API so `roverd` can health-check the service. Edit `/etc/mediamtx/mediamtx.yml` to point its WHIP client at your central media server (see `mediamtx_server_integration.md` for details).
Expose the mediaMTX HTTP API locally (default `http://127.0.0.1:9997`) and set `media.healthUrl` so `roverd` can monitor the pipeline; `media.service` should match the systemd unit name (default `mediamtx.service`).
Finally, edit `/etc/mediamtx/mediamtx.yml` so the Pi publishes the camera feed to your central control server via WHIP (for example by pointing it at `https://control.example.com/whip/<roverName>`). The Pi never serves viewers directly—drivers and spectators always watch through the control server.
## Server + UI