{
  "_comment": "Default --ros-config for the Zelantrix floor-level material transfer robot (Jetson Nano AMR) via server/createRosDriver.mjs. Source: Robot Hardware & Software Integration Brief (Zelantrix integration review). This robot's existing ROS 2 Humble graph runs on ROS_DOMAIN_ID=42 with RMW_IMPLEMENTATION=rmw_cyclonedds_cpp inside one privileged, host-networked Docker container — there is no rosbridge_websocket node running by default (the brief only documents the DDS/CycloneDDS transport). You must add ros-humble-rosbridge-server and launch `ros2 launch rosbridge_server rosbridge_websocket_launch.xml` as an additional process INSIDE that same container (so it inherits ROS_DOMAIN_ID/RMW_IMPLEMENTATION and joins the existing graph) before this config will connect to anything. See docs/HARDWARE.md 'Floor-Level Material Transfer Robot' section for the full walkthrough and known gaps — vMax/wMax/rateHz below are UNVERIFIED PLACEHOLDERS, not derived from real robot limits (the brief gives no wheel diameter/gear ratio to compute true max safe speed), and cmdVel/odom topic names are Nav2 conventions, not confirmed against this robot's actual graph (navigation internals were explicitly out of scope of the brief).",
  "url": "ws://<robot-ip>:9090",
  "robotId": "fmtr",
  "robotKind": "fmtr-jetson-nano",
  "drive": "diff",
  "dof": 0,
  "skills": [],
  "units": { "len": "m", "ang": "rad" },
  "frame": "odom",
  "limits": { "vMax": 0.3, "wMax": 1.0 },
  "rateHz": 20,
  "topics": {
    "cmdVel": "/cmd_vel",
    "odom": "/odom",
    "initialPose": "/fmtr/initialpose"
  },
  "skillServices": {},
  "estopService": null
}