System Settings

Supported since 2.9.0

The structure of the system settings is as follow.

• schema.json(readonly) - It contains the metadata of all settings, including names, types, ranges, descriptions, etc.
• default.json(readonly) - It contains the defaults value of all settings.
• user.json - It stores the values modified by the user.
• effective.json(readonly) - It contains the merged values by overlaying user.json over default.json.

By design, only user.json is modifiable. Whenever it is modified, effective.json will be updated automatically.

schema.json and default.json are constants. They are related to the model of the robot.

Schema

curl http://192.168.25.25:8090/system/settings/schema

{
   "ax":[
      {
         "name":"robot.footprint",
         "title":"Robot: Footprint",
         "type":"Polygon",
         "default":[
            [
               0.248,
               0.108
            ],
            ["..."],
            [
               0.248,
               -0.108
            ]
         ]
      },
      {
         "name":"control.auto_hold",
         "title":"Control: Auto Hold",
         "type":"bool",
         "default":true,
         "description":"When idle, the robot shall hold still"
      },
      {
         "name":"control.max_forward_velocity",
         "title":"Control: Max Forward Velocity",
         "type":"float",
         "default":1.2,
         "range":"[0, 2.0]"
      },
      {
         "name":"control.max_backward_velocity",
         "title":"Control: Max Backward Velocity",
         "type":"float",
         "default":-0.2,
         "range":"[-0.3, 0]"
      },
      {
         "name":"control.max_forward_acc",
         "title":"Control: Max Forward Acc",
         "type":"float",
         "default":0.5,
         "range":"[0, 0.8]"
      },
      {
         "name":"control.max_forward_decel",
         "title":"Control: Max Forward Decel",
         "type":"float",
         "default":-2.0,
         "range":"[-2.0, 0]"
      },
      {
         "name":"control.max_angular_velocity",
         "title":"Control: Max Angular Velocity",
         "type":"float",
         "default":1.2,
         "range":"[0, 1.2]"
      },
      {
         "name":"control.acc_smoother.smooth_level",
         "title":"Control: Acc Smoother: Smooth Level",
         "type":"Enum",
         "default":"normal",
         "options":[
            "disabled",
            "lower",
            "normal",
            "higher"
         ]
      },
      {
         "name":"bump_based_speed_limit.enable",
         "title":"enable bump-based speed limit",
         "type":"bool",
         "default":true
      },
      {
         "name":"bump_based_speed_limit.bump_tolerance",
         "title":"Bump Based Speed Limit: Bump Tolerance",
         "type":"float",
         "default":0.5,
         "range":"[0, 1.0]"
      }
   ]
}

Default Settings

curl http://192.168.25.25:8090/system/settings/default

User Settings

Get user settings:

curl http://192.168.25.25:8090/system/settings/user

Save user settings:

curl -X POST \
    -H "Content-Type: application/json" \
    -d '...' \
    http://192.168.25.25:8090/system/settings/user

Partial update of user settings:

curl -X PATCH \
    -H "Content-Type: application/json" \
    -d '...' \
    http://192.168.25.25:8090/system/settings/user

Effective Settings

curl http://192.168.25.25:8090/system/settings/effective

Setting Options

This section records all available options.

rack.specs

The physical representation of a rack. And how a robot should carry it.

{
   "rack.specs": [
      {
         "width": 0.66,
         "depth": 0.7,

         // Some racks have extruded parts(handles, etc) outside 
         // the reams of the wheels.
         "margin": [0, 0, 0, 0], 

         "alignment": "center",  // center/back. 
         "alignment_margin_back": 0.02,

         // Some rack legs have a base plate, which is invisible to laser.
         // When crawling under the rack, the robot will avoid this extra area.
         "extra_leg_offset": 0.02, 

         // Since 2.10  square/round/other
         "leg_shape": "square", 

         // Since 2.10 the side size of a square leg, or the diameter of a round leg.
         "leg_size": 0.03, 

         // Since 2.10 some racks have rotational wheels, 
         // which are invisible to the robot lasers. 
         // Use this parameter to expand the footprint of the robot to avoid collision.
         "foot_radius": 0.05 
      }
   ]
}

• width, depth - The size of the rack.
• margin - Some racks have extruded parts outside of rectangle formed by the legs.
• extra_leg_offset - Some racks have inward extruded legs that can't be seen by lidar.
• cargo_to_jack_front_edge_min_distance - When mounted, the distance between the front edge of the rack to the front edge of the jack panel. :::