Configuration

The webserver is configured through two YAML files. Both are read at startup and can be edited to match the target platform.

File	Purpose
`config/robot_webserver.yaml`	ROS parameters for the webserver, navigation, manipulation, LLM, and service control.
`config/robot_info.yaml`	Branding, viewer, stream, and network metadata returned by `/api/robot_info`. Also hosts diagnostics and notification settings.

`robot_webserver.yaml`

All parameters are stored under /**: ros__parameters:.

Robot Description

Parameter	Example	Notes
`robot_base_link`	`base_link`	Base frame used by visualization and navigation helpers.
`robot_description_package`	`robot_description`	Package used by `/api/urdf`.
`robot_xacro_path`	`xacro/robot.xacro`	Relative path inside the description package.

Teleoperation and Control

Parameter	Example
`robot_cmd_vel`	`webserver/cmd_vel`
`robot_twist_stamped`	`false`
`robot_e_stop`	`e_stop`
`robot_max_linear_velocity`	`2.0`
`robot_max_angular_velocity`	`2.0`

Sensor Topics

Parameter	Example
`robot_odom_topic`	`odometry`
`robot_scan_topic`	`sensors/scan`
`robot_battery_topic`	`platform/bms/state`
`robot_joint_states_topic`	`joint_states`
`robot_diagnostics_topic`	`diagnostics`

GPS and Localization

Parameter	Example
`robot_gps_topic`	`gps/odometry_llh`
`robot_gps_datum_topic`	`gps/datum`
`robot_gps_lat`	`50.95359`
`robot_gps_lon`	`6.60174`
`robot_gps_heading_offset`	`-90.0`

Navigation and Nav2

Parameter	Example
`nav_frame`	`map`
`robot_map_topic`	`map`
`robot_costmap_topic`	`global_costmap/costmap`
`robot_plan_topic`	`plan`
`nav2_action_name`	`navigate_to_pose`
`nav2_initial_pose_topic`	`initialpose`

Web Server

Parameter	Example	Notes
`web_security`	`true`	Enables login and API authentication checks.
`web_user`	`admin`	Browser username.
`web_password`	`mybotshop`	Browser/API password.
`web_server_ip`	`0.0.0.0`	Bind address.
`web_server_port`	`9000`	Main HTTP port.
`web_server_threads`	`6`	Worker threads.
`web_max_clients`	`6`	Concurrent client cap.
`web_debug_logging`	`false`	Enables request-in/request-out logging.

Service Control

Parameter	Example
`robot_password`	`mybotshop`
`robot_home_dir`	`/home/administrator`
`robot_webserver`	`robot-webserver`
`robot_services`	List of systemd unit names managed from the UI.

Manipulation

These parameters apply to platforms equipped with a manipulator. If manipulation_enabled is false the manipulation interface is not registered.

Parameter	Example
`manipulation_enabled`	`true`
`manipulation_controller_topics`	`["arm_traj_controller/joint_trajectory"]`
`manipulation_joint_names`	`["joint1", ..., "joint6"]`
`manipulation_joint_groups`	JSON string describing joint groups and controllers.
`manipulation_cartesian_frame`	`base_link`
`manipulation_gripper_range`	`[0.0, 0.85]`

LLM and Voice

Optional. These parameters configure the conversational assistant and text-to-speech voice. See Assistant, Voice, and TTS for details.

Parameter	Example
`llm_tools_enabled`	`false`
`llm_backend`	`claude`
`llm_ollama_host`	`http://127.0.0.1:11434`
`llm_ollama_model`	`gemma:e4b`
`llm_tts_voice`	`en-GB-RyanNeural`
`llm_tts_offline_voice`	`en-gb`

`robot_info.yaml`

This file is served through /api/robot_info and is consumed by the frontend for branding, the 3D viewer, stream configuration, and the network table.

Top-level sections:

robot — identity (name, model, platform, order/serial number)
software — ROS distribution and webserver version
manufacturer — manufacturer metadata
branding — logos, company name, support links
model_3d — static fallback 3D model
streaming — WebSocket/VNC ports and interfaces
urdf_viewer — viewer defaults (camera, lighting, grid, point cloud, camera streams)
network — named devices shown in the dashboard network table

WebRTC streaming is configured under streaming.webrtc (enabled, http_port — default 9003, http_address).

Environment Variables

Variable	Use
`ROBOT_NS`	Namespace used by the launch files.
`FLASK_SECRET_KEY`	Overrides the Flask session secret if set by the runtime.

Note

Credentials and host-specific values shipped in the configuration files are deployment defaults. Change them before exposing the webserver on a shared network.