Configuration Reference¶

All environment variables are defined in .env (copy from env.exemple). The root docker-compose.yml reads this file automatically.

Shared (ROS2 / DDS / X11)¶

Variable	Description	Default
`DISPLAY`	X11 display for graphical windows	`:0`
`QT_X11_NO_MITSHM`	Fix for Qt inside Docker	`1`
`ROS_DOMAIN_ID`	ROS2 DDS domain ID — must match across all machines	`0`

Camera (Lucid Vision)¶

Variable	Description	Default
`CAMERA_IMAGE_NAME`	Docker image tag	`air-twizy-camera:latest`
`CAMERA_CONTAINER_NAME`	Container name	`air_twizy_camera`
`CAMERA_RMW_IMPLEMENTATION`	ROS2 middleware	`rmw_fastrtps_cpp`
`CAMERA_FASTRTPS_DEFAULT_PROFILES_FILE`	Path to FastDDS XML profile inside container	`/arena_camera_ros2/config/fastdds_subscriber.xml`
`CAMERA_SERIAL`	Lucid camera serial number	(empty — uses first found)
`CAMERA_TOPIC`	ROS2 image topic name	`/camera/image_raw`

LiDAR (Ouster)¶

Variable	Description	Default
`OUSTER_ROS_DISTRO`	ROS2 distro used in build arg	`humble`
`OUSTER_RMW_IMPLEMENTATION`	ROS2 middleware	`rmw_fastrtps_cpp`
`LIDAR_IMAGE_NAME`	Docker image tag	`air-twizy-lidar:latest`
`LIDAR_CONTAINER_NAME`	Container name	`air_twizy_lidar`

Ouster launch parameters

Ouster launch parameters (sensor_hostname, udp_dest, etc.) are not in .env — pass them directly to ros2 launch inside the container.

Vehicle (Twizy)¶

Variable	Description	Default
`CARRO_IMAGE_NAME`	Docker image tag	`air-twizy-car:latest`
`CARRO_CONTAINER_NAME`	Container name	`air_twizy_car`
`TWIZY_GPU`	Enable GPU for point cloud processing	`false`
`TWIZY_LIDAR`	Launch LiDAR integration inside vehicle stack	`false`
`TWIZY_INTERFACE`	Launch CAN vehicle interface	`true`
`TWIZY_CAN_PORT`	Host CAN interface (`can0`, `vcan0`, …)	`can0`
`NVIDIA_RUNTIME`	Docker runtime (`runc` or `nvidia`)	`runc`
`TWIZY_HOST_FOLDER_PATH`	ROS2 source packages path on host	`./workspace/twizy/ros_packages`
`TWIZY_SHARED_FOLDER`	Shared folder for bags and outputs	`./workspace/twizy/shared_folder`
`TWIZY_UTILS_PATH`	Utils scripts path on host	`./workspace/twizy/utils`
`TWIZY_XAUTHORITY`	X11 authority file for GPU containers	`/tmp/.docker.xauth`

FastDDS profile generation¶

The camera FastDDS profile must be regenerated whenever the streaming interface changes:

# Publisher side (camera machine)
./workspace/camera-lucid/config/setup_fastdds.sh publisher <interface>

# Subscriber side (receiver machine)
./workspace/camera-lucid/config/setup_fastdds.sh subscriber <interface>

This creates fastdds_publisher.xml or fastdds_subscriber.xml in the config directory.