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Creating an Override

Navigate to the Mobility config type and click + Create on the latest config schema to open the overrides page.

The default configuration for the Mobility config schema is displayed on the left. To edit the overrides, click the Edit button in the top right.

Click the + Add Override to create two overrides: Mobility Settings and Telemetry Settings.

The numbers show override priority (left to right). Later overrides take precedence when determining the final configuration

Here is the final screen after creating the override. The overrides should not yet be populated with any data.

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Populate the Overrides

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Mobility Settings

Click the + Override button next to max_angular_speed_radps under the Mobility Settings

In the appearing modal, navigate to the robot_model tag type and select the max_angular_speed_radps field.

This sets the Mobility Settings override to render its max_angular_speed_radps field with the value found at the max_angular_speed_radps field for a given tag of the robot_model tag type.

Repeat this process for the max_linear_speed_mps field, linking it to the max_linear_speed_mps field in the robot_model tag type.

Finally, use the corresponding metadata found in the deployment_env tag type to set the following fields in the Mobility Settings override:

  • navigation_mode
  • obstacle_avoidance_enabled
  • telemetry.upload_interval_sec

Once all the override fields have been set, the Mobility Settings override should match the example below.

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Telemetry Settings

For the Telemetry Settings override, link the heartbeat_interval_sec field to the heartbeat_interval_sec field in the region tag type.

In the appearing modal, navigate to the region tag type and select heartbeat_interval_sec.

Repeat this process by setting the telemetry.upload_interval_sec field in the Telemetry Settings override to the telemetry_upload_interval_sec field found in the region tag type.

Once all the override fields have been set, the Telemetry Settings override should match the example below.

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Render the Configuration

After defining the Mobility Settings and Telemetry Settings overrides, click Done to switch back to render mode.

Select the Render button at the top left of the page to open the dropdown menu.

Select Robot A as the device. The tags of Robot A are used by the overrides to render the final configuration.

Click Render to view the config instance that would be deployed to Robot A given this particular config schema.

Rendered Config Instance
max_linear_speed_mps: 2
max_angular_speed_radps: 2.5
navigation_mode: "aggressive"
obstacle_avoidance_enabled: false
telemetry:
  heartbeat_interval_sec: 15
  upload_interval_sec: 45