mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-16 01:21:20 -04:00
105 lines
2.7 KiB
YAML
105 lines
2.7 KiB
YAML
# Sample configuration for roverd on a Debian laptop rover.
|
|
name: laptop-rover
|
|
description: "Debian laptop rover using USB serial, webcam, mic, and speakers."
|
|
color: "#4DB6AC"
|
|
serverUrl: ws://control-server.local:8080/rover
|
|
|
|
serial:
|
|
device: /dev/ttyUSB0
|
|
baud: 115200
|
|
|
|
# BRC is disabled in the first Debian laptop profile because USB serial
|
|
# RTS/DTR wake-pulse support needs adapter-specific testing before it should be
|
|
# trusted to keep a Roomba awake.
|
|
brc:
|
|
gpioPin: -1
|
|
|
|
battery:
|
|
full: 2068
|
|
warn: 1700
|
|
urgent: 1650
|
|
|
|
maxWheelSpeed: 350
|
|
|
|
media:
|
|
publishPort: 9000
|
|
manage: true
|
|
healthUrl: ""
|
|
healthInterval: 30s
|
|
video:
|
|
enabled: true
|
|
service: debian-laptop-video-publisher.service
|
|
publisher: debian-laptop-v4l2
|
|
device: /dev/video0
|
|
# Check supported values with:
|
|
# v4l2-ctl --device=/dev/video0 --list-formats-ext
|
|
# Common working values are mjpeg and yuyv422.
|
|
inputFormat: mjpeg
|
|
width: 640
|
|
height: 480
|
|
fps: 30
|
|
bitrate: 2000000
|
|
inverted: false
|
|
audioCapture:
|
|
enabled: true
|
|
service: audio-only-publisher.service
|
|
device: default
|
|
sampleRate: 48000
|
|
channels: 2
|
|
bitrate: 510000
|
|
audioPlayback:
|
|
enabled: true
|
|
service: audio-forward-listener.service
|
|
# The Debian laptop installer creates a named "forward" ALSA device so
|
|
# browser-forwarded audio has its own ForwardMaster mixer control instead
|
|
# of sharing the TTS default output path.
|
|
device: forward
|
|
normalize: true
|
|
|
|
cameraServo:
|
|
enabled: false
|
|
|
|
audio:
|
|
# TTS does not need Pi-specific hardware. The laptop ALSA profile maps the
|
|
# normal default playback device through the TTSMaster softvol control, so
|
|
# the existing flite/espeak execution path can stay unchanged.
|
|
ttsEnabled: true
|
|
defaultEngine: flite
|
|
|
|
horn:
|
|
# Horn audio is generated locally by roverd and plays through the named
|
|
# "horn" ALSA device by default, which the laptop installer wires to a
|
|
# separate HornMaster softvol control.
|
|
enabled: true
|
|
|
|
headlight:
|
|
enabled: false
|
|
|
|
laser:
|
|
enabled: false
|
|
|
|
autoSideBrush:
|
|
enabled: true
|
|
speed: 20
|
|
|
|
private:
|
|
enabled: false
|
|
safety:
|
|
speedLimitEnabled: false
|
|
speedLimitMaxWheelSpeed: 250
|
|
hardOvercurrentEnabled: false
|
|
overcurrentStopMs: 300
|
|
hardBumpEnabled: false
|
|
bumpBackoffSpeed: 250
|
|
bumpBackoffMs: 350
|
|
cliffEnabled: false
|
|
cliffBackoffSpeed: 250
|
|
cliffBackoffMs: 500
|
|
# Virtual walls are default-on for private rovers because they mark a
|
|
# deliberate boundary, and the server can escape by reversing the last
|
|
# commanded wheel directions instead of always backing straight up.
|
|
virtualWallEnabled: true
|
|
virtualWallBackoffSpeed: 250
|
|
virtualWallBackoffMs: 500
|
|
triggerCooldownMs: 800
|