Configuration - Innate Docs

All tunable parameters live in ~/innate-os/config/settings.yaml. Secrets and the service key live in ~/innate-os/.env. Updates never overwrite either file. The settings file ships with every option commented out next to its default. Anything you uncomment overrides the default. Changes apply after innate service restart.

From the web app

Open the web app’s Settings page to edit the most common options as a form. Changed rows turn blue, saved overrides are orange, and Reset returns a row to its default. Click Save, then restart the services.

The web app's Settings page

In the file

Uncomment the section, ros__parameters:, and the values together:

/**:
  ros__parameters:
    motion_control:
      max_speed: 0.3          # m/s, default 0.4
      max_angular_speed: 1.0  # rad/s

/** applies to every node that reads the parameter. A node name such as mars_arm: targets just that node. Write floats with a decimal point (0.3, not 3).

Common options

Section	Controls
`motion_control`	Manual driving speed. `speed_scale` is the speed mode at boot.
`mars_app` → `drive_smoothing`	How fast the joystick ramps up
`nav`	Autonomous driving speed
`bringup` → `battery`	Low and critical battery levels
`bringup` → `safety`	Hard speed limit at the motors. Keep it at or above the other speeds.
`mars_arm`	Arm jerk limit and motor protection
`main_camera_driver`	Resolution, FPS, JPEG quality, exposure
`manipulation_server`	Trained-skill inference rate and speed
`brain_client_node`, `input_manager_node`	Model, camera FOV, voice, speech models

The file itself documents every parameter.