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Creating an Override

Navigate to the Mobility config and click + Create to open the overrides page.

You’ll see the default configuration for the Mobility config schema. To create an override, click the Edit button (to the right) and you should see the following screen.

Click the + Add Override to create these two overrides.

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 overrides.

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Defining the Overrides

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Mobility Settings

  1. Click the + Override button next to max_angular_speed_radps.

    1. In the modal that appears, navigate to the robot_model tag type and select max_angular_speed_radps to override.

    1. Repeat this process for max_linear_speed_mps, also found under the robot_model tag type.

    2. For the remaining settings, you’ll use the corresponding metadata found in the deployment_env tag type to override the following key-value pairs:

      • navigation_mode
      • obstacle_avoidance_enabled
      • telemetry.upload_interval_sec

    Once all the key-value pairs have been set, the Mobility Settings override should match the example below.

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Telemetry Settings

  1. Click the + Override button next to heartbeat_interval_sec.

    1. In the modal that appears, navigate to the region tag type and select heartbeat_interval_sec.
    1. Repeat this process by overriding telemetry.upload_interval_sec in the Config Schema with the telemetry_upload_interval_sec metadata found in the region tag type.

    Once all the key-value pairs have been set, the Telemetry Settings override should match the example below.

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Rendering Final Config

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

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

Select Robot 1 as the client. The tags of the client will be used in the overrides to determine the final configuration.

Click Render and to view the Concrete Config that will be deployed to the client.

Congratulations! You’ve successfully defined overrides for the Mobility Config.