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配套源码

brick_config.yaml

app/bricks/ros_gateway/brick_config.yaml
ros-gateway-loopback：用 Custom Brick 打通 App Lab 与 ROS 2app/bricks/ros_gateway/brick_config.yaml
YAML28 行
id: ros_gateway
name: ROS Gateway
description: A reusable WebSocket gateway between App Lab and native ROS 2.
category: miscellaneous
supported_boards:
  - ventunoq
ports:
  - 8765
variables:
  - name: ROS_GATEWAY_HOST
    default_value: "0.0.0.0"
    hidden: true
  - name: ROS_GATEWAY_PORT
    default_value: "8765"
    hidden: true
  - name: ROS_GATEWAY_PATH
    default_value: "/ros"
    hidden: true
  - name: ROS_GATEWAY_MAX_VX
    default_value: "0.8"
  - name: ROS_GATEWAY_MAX_VY
    default_value: "0.8"
  - name: ROS_GATEWAY_MAX_WZ
    default_value: "1.5"
  - name: ROS_GATEWAY_COMMAND_TIMEOUT_MS
    default_value: "300"
  - name: ROS_GATEWAY_HEARTBEAT_TIMEOUT_MS
    default_value: "3000"