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Configuration

The agent reads three configuration files plus a state directory. This page covers the most useful fields.

The files

File What it holds
/etc/rdyn/agent.toml Agent-level settings, loaded once at startup.
<state_dir>/robot.toml Robot identity, TLS paths, cameras, capabilities.
/etc/rdyn/zenoh_config.json5 Zenoh networking config (JSON5).
/etc/rdyn/ca_root.pem CA root — default trust anchor for verifying the cloud.

The default state directory is /var/lib/rdyn/robot. All config is loaded through the agent's central config loader, so you only need to edit these files.

Identity and TLS

These fields tell the agent which certificate and key represent this robot. Most are written automatically during enrollment.

  • CA root — trust anchor for the cloud. Precedence: ca_root in robot.toml > RDYN_CA_ROOT env var > default /etc/rdyn/ca_root.pem.
  • Device certificate — device_cert in robot.toml, or <state_dir>/device.crt.
  • Private key — key_private in robot.toml, or <state_dir>/id_ed25519 (Ed25519) or <state_dir>/robot.key.

If both a certificate and key are present, the agent uses mTLS. Otherwise it falls back to a development mode without client authentication.

State directory

The state directory holds identity files and the local SQLite database (assets.db, WAL mode). Override it with the RDYN_STATE_DIR env var if needed. Local data includes scheduled missions, features, objects, spatial directives, and settings.

Cameras

Camera selection lives in robot.toml. The agent can auto-pick cameras, or you can pin specific V4L2 devices and formats. See Cameras and the integrator guide Configure a camera. Detailed camera field references are coming soon.

Capabilities and settings

robot.toml declares the robot's UI capabilities and initial settings. Settings are seeded into the local database at first startup (insert-if-not-exists) and can then be updated from the fleet manager or from robot software. See Declare capabilities and Capabilities.

Zenoh

/etc/rdyn/zenoh_config.json5 configures the agent's Zenoh networking (router endpoints, mode, etc.). If it is absent, the agent falls back to a [zenoh] section in robot.toml. For background, see Zenoh. The Zenoh router endpoints for your deployment are provided by the web app; for help, contact [email protected].