Config File

driver_parameters.yaml

Parameter	Default	Unit	Description
robot_ip	"127.0.0.1:50051"	-	Robot IP address and gRPC port
model	"m"	-	Robot model — "a" (RBY1-A) or "m" (RBY1-M)
get_state_period	0.01	s	State publish interval — default 0.01 (100 Hz)
minimum_time	2.0	s	Default minimum execution time for motion commands
stream_hz	30.0	Hz	Frequency for trajectory streaming
angular_velocity_limit	4.712388	rad/s	Joint angular velocity limit
linear_velocity_limit	1.5	m/s	Cartesian linear velocity limit
acceleration_limit	1.0	-	Acceleration scaling factor
stop_orientation_tracking_error	1e-5	rad	Orientation tracking error threshold to detect stop
stop_position_tracking_error	1e-5	m	Position tracking error threshold to detect stop
se2_minimum_time	1.0	s	Minimum execution time (interpolation ramp) for SE2 velocity commands
se2_linear_acceleration_limit	0.5	m/s²	Linear acceleration limit for SE2 velocity commands
se2_angular_acceleration_limit	0.5	rad/s²	Angular acceleration limit for SE2 velocity commands
fault_reset_trigger	false	-	Auto-reset MAJOR/MINOR fault on driver startup
collision_threshold	0.02	m	Minimum link-distance threshold for collision detection
publish_battery_state	true	-	Enable battery state topic
publish_tool_flange_state	true	-	Enable tool flange state topics (left + right)