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Robot Configuration

This section of the d.ASH SDK documentation provides details about the configuration file for the robot - robot_config.json - found in the folder \dash-sdk\configs. Information in this section includes variable and definitions used to configure the d.ASH server.

3.1 Config File

{
    "server_address" : "localhost:50051",
    "robot_hostname" : "192.168.80.3",
    "username" : "<USERNAME>",
    "cam_list" : ["RealsenseCam"],
    "payloads" : [],
    "data_state_log_folder" : "G:/Temp/logs",
    "ssl" : true,
    "fast_server" : false,
    "fast_server_hostname" : "localhost:7777",
    "secure_default_token" : false,
    "test_mode" : true,
    "with_audio" : true,
    "real_sense_config" : {
        "test" : true,
        "test_filenames" : ["../../test_videos/nus_left.mp4", "../../test_videos/nus_center.mp4","../../test_videos/nus_right.mp4"],
        "flip_options" : {
            "0" : [false, false],
            "1" : [true, true],
        "2" : [false, false]
        },
        "base_width" : 640,
        "base_height" : 480,
        "codec" : "video",
        "width" : 320,
        "height" : 240,
        "bitrate" : 3600000
    }
}

3.2 Definitions

3.2.1 Main

Variable Definition
server_address Sets address of the d.ASH server in <HOSTNAME>:<PORT> format.
robot_hostname Sets hostname of the Spot to connect to robot's IP.
username Sets username for d.ASH server credentials.
cam_list Sets a list of cameras active for the current session.
payloads Optional payloads list.
data_state_log_folder Sets folder to write out the recorded msgpack data of the robot.
ssl Enables secure SSL messaging and encryption.
test_mode Enables the d.ASH server to enter into test mode.
with_audio Enables audio streaming playback.

3.2.2 Intel RealSense Configuration

Variable Definition
test Enables simulation of camera streaming via provided custom mp4 video files specified as a list in test_filenames.
test_filenames List of test files.
flip_options Specify how each camera flips long the x-axis and y-axis following the format {"index" : [x-flip, y-flip]}.
baseWidth Sets processing width of the camera stream. Note that a minimum baseWidth of 640 is required.
baseHeight Sets the processing height of the camera stream. Note that a minimum baseHeight of 360 is required.
codec Sets jpg/video options, with jpg being regular jpeg encoding and video using VP9 encoding.
width Adjusts the final returned/resized width dimensions of the input camera stream. Video will be processed at this base resolution before being resized via width and height. Use these variables to change the actual processed resolution for power/efficiency considerations of the RealSense devices.
height Adjusts the final returned/resized height dimensions of the input camera stream. Video will be processed at this base resolution before being resized via width and height. Use these variables to change the actual processed resolution for power/efficiency considerations of the RealSense devices.
bitrate This is the quality of the video encoding. Note for HD Streaming, RealSense requires a high bitrate of 3600000.