chore(config): make sample configs Keystone templates

apps/axon_config/README.md

@@ -75,6 +75,16 @@ Nested JSON values can also be addressed with dotted names, for example
 `{{ endpoints.transfer_ws_url }}`. Unknown placeholders fail the command and leave
 existing rendered configs unchanged.
 
+The repository samples are Keystone-ready starting points:
+
+- `apps/axon_recorder/config/default_config_ros1.yaml` -> Keystone `recorder.yaml`
+- `apps/axon_recorder/config/default_config_ros2.yaml` -> Keystone `recorder.yaml`
+- `apps/axon_transfer/config/transfer_config.yaml` -> Keystone `transfer.yaml`
+
+For a new robot type, edit the recorder `subscriptions` list for the ROS profile and adjust
+the transfer S3 destination if needed. The registration identity and WebSocket URLs are
+filled by `axon-config` after the device registers.
+
 ## Refreshing Configs
 
 Use `refresh` after a device has already been registered and `/etc/axon/device.json`

apps/axon_recorder/config/README.md

@@ -1,24 +1,34 @@
 # Axon Recorder Configuration Files
 
-This directory contains configuration files for the Axon recorder.
+This directory contains configuration files for the Axon recorder. The ROS1 and ROS2
+samples are also Keystone-ready `recorder.yaml` templates for `axon_config register`.
 
 ## Configuration Files
 
 ### ROS1 Configuration
 - **[default_config_ros1.yaml](default_config_ros1.yaml)** - Default configuration for ROS1 (Noetic)
   - Sets `profile: ros1`
+  - Sets `rpc.mode: ws_client` and fills the RPC URL during registration
   - Use with ROS1 plugin: `libaxon_ros1_plugin.so`
 
 ### ROS2 Configuration
 - **[default_config_ros2.yaml](default_config_ros2.yaml)** - Default configuration for ROS2 (Humble/Jazzy/Rolling)
   - Sets `profile: ros2`
+  - Sets `rpc.mode: ws_client` and fills the RPC URL during registration
   - Use with ROS2 plugin: `libaxon_ros2_plugin.so`
 
 ## Usage
 
-### Method 1: Plugin path in config file (Recommended)
+### Method 1: Keystone Template Workflow
 
-Set the `plugin.path` in the config file:
+Edit the `subscriptions` list for the robot type, then upload the file to Keystone as
+`recorder.yaml`. `axon_config register` renders the WebSocket RPC URL and writes the final
+config to `/etc/axon/recorder.yaml`.
+
+### Method 2: Plugin path in config file
+
+Set the `plugin.path` in the config file. For local-only runs without Keystone, also change
+`rpc.mode` to `http_server` or replace `rpc.ws_client.url` with a concrete WebSocket URL:
 
 ```bash
 # ROS1
@@ -28,7 +38,7 @@ Set the `plugin.path` in the config file:
 ./axon_recorder --config config/default_config_ros2.yaml
 ```
 
-### Method 2: Plugin path via command line
+### Method 3: Plugin path via command line
 
 ```bash
 # ROS1

apps/axon_recorder/config/default_config_ros1.yaml

@@ -1,5 +1,8 @@
 # Axon Recorder Configuration for ROS1 (Noetic)
-# Usage: ./axon_recorder --config config/default_config_ros1.yaml
+# This sample is also suitable as a Keystone recorder.yaml template. After
+# axon_config register renders it, the recorder connects back to Keystone in
+# WebSocket RPC client mode. For local-only panel workflows, change rpc.mode
+# to http_server and use a concrete rpc.ws_client.url when needed.
 
 # ============================================================================
 # Plugin Configuration
@@ -44,6 +47,7 @@ dataset:
 # ============================================================================
 # Subscription Configuration
 # ============================================================================
+# Edit this section for each robot type before uploading the template to Keystone.
 # High-frequency subscriptions (IMU, camera): Use larger batches (100-5000)
 # Low-frequency subscriptions (status, diagnostics): Use small batches (1-10)
 # Control signals: Use batch_size=1 for immediate persistence
@@ -196,16 +200,16 @@ http_server:
 # RPC Mode Configuration
 # ============================================================================
 # Unified configuration for HTTP server and WebSocket client modes
-# mode: "http_server" (default) or "ws_client"
+# mode: "ws_client" for Keystone-rendered templates, or "http_server" for local panel control
 # - http_server: Start HTTP RPC server on local port (for axon_panel)
 # - ws_client: Connect as WebSocket client to keystone server (for fleet management)
 rpc:
-  mode: http_server
+  mode: ws_client
 
   # WebSocket client configuration (only used when mode: ws_client)
   ws_client:
-    # WebSocket server URL (e.g., ws://keystone:8090/rpc or wss://keystone:8090/rpc)
-    url: ws://localhost:8090/rpc
+    # Filled by axon_config register from the Keystone registration context.
+    url: "{{ recorder_rpc_url }}"
 
     # Optional JWT token for authentication during handshake
     auth_token: ""

apps/axon_recorder/config/default_config_ros2.yaml

@@ -1,5 +1,8 @@
 # Axon Recorder Configuration for ROS2 (Humble/Jazzy/Rolling)
-# Usage: ./axon_recorder --config config/default_config_ros2.yaml
+# This sample is also suitable as a Keystone recorder.yaml template. After
+# axon_config register renders it, the recorder connects back to Keystone in
+# WebSocket RPC client mode. For local-only panel workflows, change rpc.mode
+# to http_server and use a concrete rpc.ws_client.url when needed.
 
 # ============================================================================
 # Plugin Configuration
@@ -46,6 +49,7 @@ dataset:
 # ============================================================================
 # Subscription Configuration
 # ============================================================================
+# Edit this section for each robot type before uploading the template to Keystone.
 # High-frequency subscriptions (IMU, camera): Use larger batches (100-5000)
 # Low-frequency subscriptions (status, diagnostics): Use small batches (1-10)
 # Control signals: Use batch_size=1 for immediate persistence
@@ -223,16 +227,16 @@ http_server:
 # RPC Mode Configuration
 # ============================================================================
 # Unified configuration for HTTP server and WebSocket client modes
-# mode: "http_server" (default) or "ws_client"
+# mode: "ws_client" for Keystone-rendered templates, or "http_server" for local panel control
 # - http_server: Start HTTP RPC server on local port (for axon_panel)
 # - ws_client: Connect as WebSocket client to keystone server (for fleet management)
 rpc:
-  mode: http_server
+  mode: ws_client
 
   # WebSocket client configuration (only used when mode: ws_client)
   ws_client:
-    # WebSocket server URL (e.g., ws://keystone:8090/rpc or wss://keystone:8090/rpc)
-    url: ws://localhost:8090/rpc
+    # Filled by axon_config register from the Keystone registration context.
+    url: "{{ recorder_rpc_url }}"
 
     # Optional JWT token for authentication during handshake
     auth_token: ""

apps/axon_transfer/README.md

@@ -4,6 +4,10 @@
 recording directory, persists upload state in SQLite, uploads MCAP files to S3-compatible storage,
 and reports operator-facing status over the fleet WebSocket.
 
+`config/transfer_config.yaml` is also a Keystone-ready `transfer.yaml` template. `axon_config`
+renders the device identity and fleet WebSocket base URL after registration; edit the S3 destination
+and scanner settings per deployment before uploading it to Keystone.
+
 ## Completion Contract
 
 The scanner supports two completion modes:

apps/axon_transfer/config/transfer_config.yaml

@@ -1,13 +1,17 @@
 # Axon Transfer Configuration
 # S3 transfer daemon for fleet management
+# This sample is suitable as a Keystone transfer.yaml template. axon_config
+# register renders the identity and WebSocket fields from the registration
+# context before writing /etc/axon/transfer.yaml.
 
 # Device identification
-device_id: "robot_01"
-factory_id: "factory_a"
+device_id: "{{ device_id }}"
+factory_id: "{{ factory_id }}"
 
 # WebSocket client configuration
 ws:
-  url: "ws://fleet.factory-a.local:8090/transfer"
+  # axon-transfer appends /<device_id> to this base URL at runtime.
+  url: "{{ transfer_ws_url }}"
   ping_interval_ms: 30000
   ping_timeout_ms: 10000
   reconnect: