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Initialization

Initialization (or Seeding) is the process of initializing an instance of an agent with some predefined values and assets. This can be done only once before starting the service the first time, or when using factory reset.

Nimbus.json​

The following values can be initialized in the nimbus.json file.

Ros1/2 related settings

  "localRosIp": "127.0.0.1"
  "localRosMasterUri": "http://127.0.0.1:11311"
  "localRos2DomainId": 88

Special security settings

  "denySsh": false,
  "denyLocalEditMode": false,
  "httpBlocked": false,
  "usbStorageBlocked": false,
  "wifiDisabled": false,
  "bluetoothDisabled": false,

Preset files​

Nimbus can automatically add presets from files on the robot. This lets you start with predefined robot presets without creating them manually in the UI.

Think of it as:

On first startup, Nimbus looks for preset files and adds them to its local preset library.

Where to place preset files​

Preset files must be located **next to **nimbus.json, inside specific folders:

/etc/nimbus/
├── nimbus.json
├── robot-presets/
│   └── my-robot-preset.json
  • robot-presets/ — presets intended for a single robot
  • Each JSON file represents one preset

The folders may contain multiple preset files.

What happens on startup​

When the agent starts:

  1. It checks whether preset files were already processed before.
  2. If not:
    • It scans robot-presets/
    • Any preset that does not already exist is added to the local preset list
  3. The agent then remembers that this step was completed and will not repeat it on future restarts

Important details:

  • Existing presets are never overwritten
  • Missing folders are allowed
  • This process runs only once per local database lifetime
  • To re‑apply preset files, use Factory Reset and restart the agent

Updating presets later​

If you add or modify preset files after the agent has already started once:

  • The new files will not be picked up automatically
  • This is intentional, to avoid accidental duplication or unexpected changes

To make the agent load preset files again, you must perform a Factory Reset.