PiCar

Install with one command:

rcan_version: '1.6'
metadata:
  robot_name: PiCar
  robot_uuid: 00000010-0000-4000-8000-000000000001
  description: SunFounder PiCar-X, beginner starter config
  author: community
  rrn: RRN-000000000010
  rrn_uri: rrn://community/robot/opencastor/picar/picar-x-beginner
  license: Apache-2.0
agent:
  provider: ollama
  model: gemma3:4b
  vision_enabled: false
  safety_stop: true
  latency_budget_ms: 3000
  offline_provider: ollama
  confidence_gates:
  - scope: control
    min_confidence: 0.65
    on_fail: block
tiered_brain:
  fast_provider: ollama
  fast_model: gemma3:1b
  slow_provider: ollama
  slow_model: gemma3:4b
  planner_interval: 15
geofence:
  enabled: false
physics:
  type: ackermann
  dof: 2
drivers:
- id: picar_drive
  protocol: sunfounder_picar
reactive:
  min_obstacle_m: 0.25
  fallback_provider: ollama
safety:
  local_safety_wins: true
  emergency_stop_distance: 0.25
  estop_bypass_rate_limit: true
  watchdog:
    timeout_s: 15
hardware_safety:
  physical_estop: false
  hardware_watchdog_mcu: false
p66:
  enabled: true
  loa_enforcement: true
  consent_required: true
  manifest:
    estop_qos_bypass: true
consent:
  required: true
  mode: explicit
  scope_threshold: control
security:
  replay_protection:
    enabled: true
    window_s: 30
  signing:
    enabled: false
    algorithm: Ed25519
loa:
  enforcement: true
  min_loa_for_control: 1
human_identity:
  loa_required: 1
federation:
  enabled: true
  consent_bridge: false
transport:
  supported:
  - http
  - mqtt
  constrained_enabled: false
multimodal:
  enabled: false
offline:
  enabled: true
  fallback_provider: ollama
r2ram:
  scopes:
  - discover
  - status
  - chat
  - control
  - safety
network:
  allow_remote_override: false
rcan_protocol:
  port: 8080
  capabilities:
  - status
  - nav
  - chat
  enable_mdns: true
  enable_jwt: false
agent_roster:
- id: nav_specialist
  provider: ollama
  model: gemma3:4b
  scope: nav
- id: chat_specialist
  provider: ollama
  model: gemma3:4b
  scope: chat
cameras:
  main:
    type: http
    url: http://127.0.0.1:8765/snapshot