preset RCAN 1.6
opencastor-peer-demo
Minimal demo for the peer-coordinate builtin skill. Enables robots to discover each other via mDNS, share status, delegate tasks, and coordinate actions across a local fleet. A great starting point for swarm experiments and multi-robot collaboration scenarios.
Scan to install
differentialgooglercan-1.6official
Install with one command:
castor install opencastor.com/config/skill-peer-coordinate Provider
google
Physics
differential
RCAN Version
1.6
Source
official
Config (skill-peer-coordinate.rcan.yaml)
rcan_version: "1.6"
metadata:
robot_name: opencastor-peer-demo
robot_uuid: "00000000-0000-4000-8000-000000000005"
author: OpenCastor Team
license: Apache-2.0
description: >
Minimal demo for the peer-coordinate builtin skill. Enables robots to
discover each other via mDNS, share status, delegate tasks, and
coordinate actions across a local fleet. A great starting point for
swarm experiments and multi-robot collaboration scenarios.
tags:
- official
- skill
- swarm
- peer-coordinate
- multi-robot
builtin_skills:
- peer-coordinate
_note: >
Official demo for the peer-coordinate builtin skill. Enables mDNS-based
peer discovery and multi-robot task delegation. Fork to configure your
peer RRNs and federation trust settings.
agent:
provider: google
model: gemini-2.5-flash
safety_stop: true
system_prompt: >
You are a coordination-focused OpenCastor agent. Use the peer-coordinate
skill to discover nearby robots, share tasks, and collaborate on goals.
Always confirm peer identity and trust level before delegating control tasks.
federation:
enabled: true
consent_bridge: false
physics:
type: differential
dof: 2
drivers:
- id: main_drive
protocol: gpio
network:
allow_remote_override: false
rcan_protocol:
enable_mdns: true
loa:
min_loa_for_control: 1
safety:
p66_enabled: true