.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 --env-file .env 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.
VERSION="0.18.0-alpha.5"
# Choose "dev" or "prebuilt". "dev" is for mounted code that must be built live. "prebuilt" is for built ros_ws baked into the image
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="false"
# ===============================================

# ================= MS-AIRSIM =====================
MS_AIRSIM_ENV_DIR="../environments"
MS_AIRSIM_BINARY_PATH="/ms-airsim-env/AbandonedPark/LinuxNoEditor/AbandonedPark.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"

# 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