Bridge Configuration

A config file is generated in the registration step of the Bridge node install process and saved as e.g phntm_bridge.yaml. Here’s the full list of configurable options:

phntm_bridge.yaml

 /**:
   ros__parameters:
     id_robot: %ID_ROBOT% # robot's ID
     key: %SECRET_KEY% # robot's secrey key
     name: 'Unnamed Robot' # the name to show in the UI
     maintainer_email: 'robot.master@domain.com' # your e-mail for service announcements

     ## The Cloud Bridge instance to connect to
     cloud_bridge_address: https://bridge.phntm.io

     ## Socket.io config
     sio_path: /robot/socket.io
     sio_port: 1337
     sio_ssl_verify: True
     sio_connection_retry_sec: 5.0

     ## File Receiver
     file_upload_port: 1336,

     ## WebRTC config
     ## This config is loaded from the Cloud Brige but can be extended or overriden
     use_cloud_ice_config: True # cloud config ignored if False
     ice_servers: # custom ICE servers (will be added to Cloud Bridge's list if use_cloud_ice_config==True)
      - 'turn:ca.turn.phntm.io:3478'
      - 'turn:ca.turn.phntm.io:3479'
     ice_username: 'robo' # STUN/TURN credentials, robot's ID is used if ''
     ice_secret: 'pass' # STUN/TURN password

     log_sdp: True # verbose WebRTC debug
     log_heartbeat: True # debug heartbeat

     ## Introspection
     discovery_period_sec: 3.0 # < 0 introspection OFF
     stop_discovery_after_sec: 10.0 # < 0 run forever

     ## Extra packages to install on the 1st container run
     ## (See Custom message & Service types)
     extra_packages:
      - /ros2_ws/src/vision_msgs
      - /ros2_ws/src/astra_camera_msgs
      - some_other_package

     ## Blink LEDs via GPIO on network activity
     ## (See Status LEDs)
     conn_led_gpio_chip: /dev/gpiochip0
     conn_led_pin: 23
     data_led_pin: 24
     ## ... or blink LEDs via ROS topics (producing std_msgs/msg/Bool):
     conn_led_topic: /some/led_topic_1
     data_led_topic: /some/led_topic_2

     ## Custom topic configs (see more below)
     /robot_description:
       reliability: 1 # Reliable
       durability: 1 # Transient local
       lifespan_sec: -1 # Infinity
     /battery:
       min_voltage: 9.0 # empty voltage
       max_voltage: 12.6 # full voltage

     ui_battery_topic: /battery # battery to show in the UI, '' to disable

     ui_wifi_monitor_topic: '/iw_status' # WiFi monitor topic to show in the UI (produced by the Agent)
     ui_enable_wifi_scan: True # must be also enabled in Agent config
     ui_enable_wifi_roam: False # must be also enabled in Agent config

     ui_docker_control: True # Docker control via Agent
     docker_monitor_topic: /docker_info # produced by the Agent

     ## User input config (see User input & Teleoperation)
     input_drivers: [ 'Twist', 'Joy' ] # enabled input drivers, use [ '' ] to disable user input entirely
     input_defaults: /ros2_ws/phntm_input_config.json # path to input defaults config file as mapped inside the container
     custom_input_drivers: [] # custom drivers to load, see Implementing custom drivers

     ## Services input config (see Services)
     service_defaults: /ros2_ws/phntm_services_config.json # path to services defaults config file as mapped inside the container
     custom_service_widgets: [] # custom widgets to load, see Implementing custom widgets
     service_widgets: [] # custom widgets service mapping, see Implementing custom widgets

Topic Subscription Options

Each topic subscription can be configured separately in the phntm_bridge.yaml file. Common cofiguration includes the ROS QOS subcriber options, e.g:

phntm_bridge.yaml

 /some_topic:
   reliability: 2 # 0 = System default, 1 = Reliable, 2 = Best effort (default)
   durability: 2 # 0 = System default, 1 = Transient local, 2 = Volatile (default)
   lifespan_sec: -1 # -1 = Infinity (default)

Some configuraton options are further specific to the topic’s message type:

sensor_msgs/msg/CameraInfo

Used by 3D Scene View

phntm_bridge.yaml

 /some_camera/camera_info_topic:
   frustum_color: 'cyan' # color name or hex (e.g. '#00ff00')
   frustum_near: 0.01
   frustum_far: 1.0
   force_frame_id: 'camera_color' # force frame_id in URDF model (in the UI)

sensor_msgs/msg/BatteryState

Used by Battery State

phntm_bridge.yaml

 /some_battery_topic:
   min_voltage: 9.0 # battery empty voltage
   max_voltage: 12.6 # battery full voltage

vision_msgs/msg/Detection2DArray, Detection3DArray

Used by Video overlay and 3D Scene View

phntm_bridge.yaml

 /some_detection_topic:
   input_width: 416 # detection input frame width
   input_height: 416 # detection input frame height
   label_map: [ 'person', 'woman', 'man', 'camera', 'TV' ] # class label map

sensor_msgs/msg/Image

Configuration is only needed for processing of Image message containing depth frames. Supported depth image types are ‘16UC1’, ‘mono16’, and ‘32FC1’. The colormap parameter is an integer value from the cv2.COLORMAP enum and is only used to stylize the non-RGB frame encodings. See Video & Image topics for more on Image topics processing.

phntm_bridge.yaml

 /some_depth_image_topic:
   max_sensor_value: 4000.0 # depth max distance from the sensor in mm
   colormap: 13 # cv2.COLORMAP, e.g. 13 = cv2.COLORMAP_MAGMA