.env

# This is the main .env file for AirStack, which sets DOCKER COMPOSE VARIABLES FOR VARIABLE INTERPOLATION IN docker-compose.yaml.
# These variables do NOT get set within the robot container itself. For setting container environment variables, use env_file: attribute in docker-compose.yaml.
# Standard Usage: airstack up   (reads this file automatically; flags like --sim/--robots override it — see `airstack help up`)

# Warning: even though this file is organized into sections, all variables get propagated to all sub-level 
#  docker-compose files, so be careful about naming conflicts.

# =============== PROJECT ====================
# THESE VARIABLES ARE USED TO TAG THE DOCKER IMAGES.
# The name of the project. This is used as the repository name for the docker images, and also as part of the default image tag.
PROJECT_NAME="airstack"
# If you've run ./airstack.sh setup, then this will auto-generate from the git commit hash every time a change is made 
# to a Dockerfile or docker-compose.yaml file. Otherwise this can also be set explicitly to make a release version.
# auto-generated from git commit hash
VERSION="0.20.8"
# Image-tag discriminator ONLY (appears in the image tag suffix, e.g. ..._robot-x86-64_dev).
# No Dockerfile consumes it: "prebuilt" does NOT bake the built ros_ws into the image today —
# a real prebuilt (workspace-baked) stage is future work. Keep "dev" (mounted code, built live).
DOCKER_IMAGE_BUILD_MODE="dev"
# Where to push and pull images from. Can replace with your docker hub username if using docker hub.
PROJECT_DOCKER_REGISTRY="airlab-docker.andrew.cmu.edu/airstack"
# This is the default profile that docker compose will use if you just run `docker compose up` without specifying a profile. 
# It can be overridden with the --profile flag, or by setting the COMPOSE_PROFILES environment variable to a different value
#  before running `docker compose up`.
COMPOSE_PROFILES="desktop,isaac-sim"
# ============================================

# ================= Common ===================
AUTOLAUNCH="true"  # If false, the docker-compose will just spawn idle docker containers with no launch command.
NUM_ROBOTS="1"  # Number of robot containers to launch.
RECORD_BAGS="false"  # "true" or "false"

# ============== ISAAC SIM =====================
ISAAC_SIM_GUI="/isaac-sim/AirStack/simulation/isaac-sim/assets/scenes/simple_pegasus.scene.usd"
# Set to "true" to launch Isaac Sim using a standalone Python script instead of USD file
ISAAC_SIM_USE_STANDALONE="true" # "true" or "false"
# Script name (must be in /AirStack/simulation/isaac-sim/launch_scripts/)
ISAAC_SIM_SCRIPT_NAME="example_one_px4_pegasus_launch_script.py"
PLAY_SIM_ON_START="true"  # Sim starts PLAYING by default (launch with `airstack up --no-play` to come up paused).
# Scene to load, set by `airstack up --scene <shortname>` (see simulation/scenes.yaml
# for shortnames). Can also be set directly to a Pegasus SIMULATION_ENVIRONMENTS
# key or a USD URL. Empty = the launch script's default (Default Environment).
# ISAAC_SIM_SCENE="Warehouse"
# ISAAC_SIM_STAGE_SCALE="1.0"  # scale applied to /World/stage (0.01 for cm-authored stages)

# ===============================================

# ================= MS-AIRSIM =====================
# Scene to run, set by `airstack up --scene <shortname>` (see simulation/scenes.yaml).
# A fetch_scene.sh key; the pre-built UE4 binary is auto-fetched if absent.
# Empty = blocks. Ignored when MS_AIRSIM_BINARY_PATH is set.
# MS_AIRSIM_SCENE="blocks"
# Do not set if you want airstack to fetch a simple blocks world.
# MS_AIRSIM_ENV_DIR=./simulation/ms-airsim/assets/scenes
# MS_AIRSIM_BINARY_PATH="/ms-airsim-env/Blocks/LinuxNoEditor/Blocks.sh"
# =================================================

# ================= ROBOT =====================
ROBOT_NAME_MAP_CONFIG_FILE="default_robot_name_map.yaml"  # Determines how to set ROBOT_NAME and ROS_DOMAIN_ID. See robot/docker/robot_name_map/

URDF_FILE="robot_descriptions/iris/urdf/iris_with_sensors.pegasus.robot.urdf"

DEBUG_RVIZ="false"  # "true" or "false". If true, launches RViz alongside the robot via desktop_bringup/robot.launch.xml.

# offboard API streaming out. this is so that ports don't conflict for multi-agent FCU communication. 
OFFBOARD_BASE_PORT=14540
ONBOARD_BASE_PORT=14580