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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: robot identity, server URLs, TLS paths, and the [zenoh] fallback.
<state_dir>/robot.toml Per-robot transport, ingest/command topics, command policy, capabilities, and settings.
/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 live in agent.toml and 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 agent.toml > RDYN_CA_ROOT env var > default /etc/rdyn/ca_root.pem.
  • Device certificate: device_cert in agent.toml, or <state_dir>/device.crt.
  • Private key: key_private in agent.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, field rules, and settings.

Cameras

The agent auto-discovers V4L2 cameras on the host, and the operator selects a specific camera (or pair) during a teleop session. See Cameras and the integrator guide Configure a camera. Detailed camera configuration options (where selection and device/format preferences are set) 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 agent.toml. For background, see Zenoh. The Zenoh router endpoints for your deployment are provided by the web app; for help, contact [email protected].