From 2a8072fce05ebe8eddc20025a9f82c8165d1e607 Mon Sep 17 00:00:00 2001
From: "cameron.johnson" <cameron.johnson@kitware.com>
Date: Tue, 29 Sep 2026 10:31:51 -0400
Subject: [PATCH 1/6] cq was yq + jq. I retired it for jq only. taiga and nayak
 yaml configs become JSON

Read config.json with json.load, not yaml.safe_load
---
 README.md                                     |   2 +-
 runtime/env.sh                                |   2 +-
 src/cfg/README.md                             |  57 ++++
 src/cfg/cfg-aliases.sh                        |   2 +-
 src/cfg/get                                   |   7 +-
 src/cfg/nayak/config.json                     | 265 ++++++++++++++++++
 src/cfg/nayak/config.yaml                     | 265 ------------------
 src/cfg/taiga/config.json                     | 262 +++++++++++++++++
 src/cfg/taiga/config.yaml                     | 263 -----------------
 src/core/kamcore/scripts/seed_redis_config.py |  18 +-
 .../wxpython_gui/src/wxpython_gui/cfg.py      |  15 +-
 src/run_scripts/entry/master.sh               |   6 +-
 12 files changed, 610 insertions(+), 554 deletions(-)
 create mode 100644 src/cfg/README.md
 create mode 100644 src/cfg/nayak/config.json
 delete mode 100644 src/cfg/nayak/config.yaml
 create mode 100644 src/cfg/taiga/config.json
 delete mode 100644 src/cfg/taiga/config.yaml

diff --git a/README.md b/README.md
index 5bd85242..d437666f 100644
--- a/README.md
+++ b/README.md
@@ -23,7 +23,7 @@ KAMERA, or the **K**nowledge-guided Image **A**cquisition **M**anag**ER** and **
 ## Layout
 
 - `src/` is the onboard software: ROS packages for the cameras, INS, DAQ and processing, under `src/core`, `src/cams` and `src/process`.
-- `src/cfg/` is the per-system configuration. `nayak/` and `taiga/` each hold a `config.yaml`, the default system state, and one folder per host with its network and clock settings. Files shared by every system sit at the top level. The file `~/kw/SYSTEM_NAME` on a host picks which folder applies.
+- `src/cfg/` is the per-system configuration. `nayak/` and `taiga/` each hold a `config.json`, the default system state, and one folder per host with its network and clock settings. Files shared by every system sit at the top level. The file `~/kw/SYSTEM_NAME` on a host picks which folder applies.
 - `runtime/` is how a host runs the system: the env script, the supervisor program definitions for the leader and the followers, and the scripts supervisor calls (tmux startup). It is the same on every system.
 - `compose/` runs and `docker/` defines the images built for the containers those programs start.
 - `provision/` sets up a host from a fresh install with Ansible, plus the desktop shortcuts and dotfiles it installs.
diff --git a/runtime/env.sh b/runtime/env.sh
index 7ed967ff..371e23cc 100644
--- a/runtime/env.sh
+++ b/runtime/env.sh
@@ -3,7 +3,7 @@ SYSTEM_NAME="$(cat ${HOME}/kw/SYSTEM_NAME)"
 export SYSTEM_NAME
 
 export KAMERA_DIR=$(${HOME}/.config/kamera/repo_dir.bash)
-CFG_FILE="${KAMERA_DIR}/src/cfg/${SYSTEM_NAME}/config.yaml"
+CFG_FILE="${KAMERA_DIR}/src/cfg/${SYSTEM_NAME}/config.json"
 cq () {
     CFG_FILE=${CFG_FILE} ${KAMERA_DIR}/src/cfg/get "$@"
 }
diff --git a/src/cfg/README.md b/src/cfg/README.md
new file mode 100644
index 00000000..6fc161fa
--- /dev/null
+++ b/src/cfg/README.md
@@ -0,0 +1,57 @@
+# Per-system deployment configs
+
+`<system>/config.json` (taiga, nayak) is the singular source of truth for a
+deployment's static configuration. More static configuration should be
+handled with compose.yml files and .launch files.
+
+It is read in two ways, both of which expect plain JSON:
+
+- shell: the `cq` helper (`cfg-aliases.sh` / `runtime/env.sh`) runs
+  `src/cfg/get`, which is a plain `jq -r <query> config.json`
+- python: `kamcore/scripts/seed_redis_config.py` and `wxpython_gui.cfg`
+  load it and seed the static keys into redis (config.json always wins for
+  its keys; operator-mutable session state stays owned by the GUI)
+
+These notes used to live as comments inside `config.yaml` and moved here
+when the file became JSON.
+
+## Field notes
+
+**Fields of view.** FOV names describe the position of the camera array's
+reference frame: `{left, right, center, NONE}` (use `NONE` with
+`ROLE=NONE`). Looking along the direction of flight:
+
+```
+ Port     Starbrd
+       _
+      /^\
+    x | | x
+ <==U=| |=U==>
+      | |
+      \ /
+     <<V>>
+ [L]  [C]  [R]   Fields of View
+```
+
+**`.arch`** — camera information and configuration. `max_frame_rate` is the
+max fps we can request of the cameras. `max_mpix: 200000` is 0.2e6.
+
+**`.interfaces`** — maps channels to ethernet interface names (this is
+going to usurp the locations mapping).
+
+**`.locations`** — maps a DEV_ID to a specific FOV. Use this section to
+swap which physical cameras map to a software FOV.
+
+**`.devices`** — configuration for each physical device, keyed by DEV_ID
+(e.g. `ir_n0`). A DEV_ID is an abstract label with no absolute correlation
+to FOV; that indirection makes it easy and less error-prone to reroute
+camera defs. Device blocks appear in groups: cooled FLIR cameras, IR
+"backup" cameras, rgb prosilica backup cameras, rgb phase one cameras, uv
+prosilica cameras. For prosilica GUIDs: the last 3 nybbles of the MAC are
+the GUID, i.e. `02:c2:8c` = 0x02c28c = 180876.
+
+**`.camera_models`** — information about the actual camera devices, keyed
+by model name.
+
+**`.launch`** — expert configs; launch params passed through to the camera
+launch files.
diff --git a/src/cfg/cfg-aliases.sh b/src/cfg/cfg-aliases.sh
index 5a926aa8..486a8c60 100755
--- a/src/cfg/cfg-aliases.sh
+++ b/src/cfg/cfg-aliases.sh
@@ -8,5 +8,5 @@ export CFG_ALIAS_SET=true
 
 # ConfigQuery
 cq () {
-    CFG_FILE=${CFG_DIR}/${SYSTEM_NAME}/config.yaml ${CFG_DIR}/get "$@"
+    CFG_FILE=${CFG_DIR}/${SYSTEM_NAME}/config.json ${CFG_DIR}/get "$@"
 }
diff --git a/src/cfg/get b/src/cfg/get
index 93eddce3..76493a72 100755
--- a/src/cfg/get
+++ b/src/cfg/get
@@ -1,7 +1,8 @@
 #!/usr/bin/env bash
 
-#Retrieve values from user config yaml, basically syntactic sugar for `yq r user-config.yml`
+# Retrieve values from the per-system config.json; queries are plain jq.
+# (Historically this piped config.yaml through a pinned yq v3 binary into
+# jq; the configs are JSON now, so jq alone does the job.)
 
 CFG_FILE="${CFG_FILE}"
-## Gotta pass it into jq cause it's more feature rich
-yq read -j "${CFG_FILE}" | jq -r "${1}"
+exec jq -r "${1}" "${CFG_FILE}"
diff --git a/src/cfg/nayak/config.json b/src/cfg/nayak/config.json
new file mode 100644
index 00000000..335e4aa0
--- /dev/null
+++ b/src/cfg/nayak/config.json
@@ -0,0 +1,265 @@
+{
+  "arch": {
+    "max_frame_rate": 2.0,
+    "min_frame_rate": 0.1,
+    "base_template": "{base}/{project}/fl{flight}/{sys_cfg}/",
+    "template": "{base}/{project}/fl{flight}/{sys_cfg}/{cam_fov}_view/{project}_fl{flight}_{cf}_{time}_{mode}.{ext}",
+    "max_exposure_ms": 125,
+    "ext_rgb": "jpg",
+    "ext_uv": "jpg",
+    "ext_ir": "tif",
+    "ext_evt": "json",
+    "ext_ins": "json",
+    "hosts": {
+      "center0nayak": {
+        "fov": "center",
+        "idx": 0,
+        "enabled": true
+      },
+      "left1nayak": {
+        "fov": "left",
+        "idx": 1,
+        "enabled": true
+      },
+      "right2nayak": {
+        "fov": "right",
+        "idx": 2,
+        "enabled": true
+      },
+      "center0spare": {
+        "fov": "center",
+        "idx": 0,
+        "enabled": false
+      }
+    }
+  },
+  "postproc_commands": [
+    "flight_summary",
+    "homography",
+    "detections"
+  ],
+  "nas_mnt": "/mnt/flight_data",
+  "local_ssd_mnt": "/mnt/data",
+  "kamera_dir": "/home/user/kw/kamera",
+  "gui_cfg_dir": "/home/user/.config/kamera/gui",
+  "master_host": "center0nayak",
+  "redis_host": "center0nayak",
+  "verbosity": 9,
+  "max_mpix": 200000,
+  "channels": {
+    "rgb": 0
+  },
+  "interfaces": {
+    "rgb": "pci_btm",
+    "ir": "mobo_top",
+    "uv": "mobo_btm"
+  },
+  "locations": {
+    "center": {
+      "ir": "ir_n0",
+      "rgb": "rgb_n0",
+      "uv": "uv_n0"
+    },
+    "left": {
+      "ir": "ir_n1",
+      "rgb": "rgb_n1",
+      "uv": "uv_n1"
+    },
+    "right": {
+      "ir": "ir_n2",
+      "rgb": "rgb_n2",
+      "uv": "uv_n2"
+    }
+  },
+  "enabled": {
+    "center": {
+      "rgb": true,
+      "ir": false,
+      "uv": false
+    },
+    "left": {
+      "rgb": true,
+      "ir": false,
+      "uv": false
+    },
+    "right": {
+      "rgb": true,
+      "ir": false,
+      "uv": false
+    }
+  },
+  "devices": {
+    "ir_n0": {
+      "model": "flir_a6750",
+      "mac": "00:11:1c:02:40:46",
+      "prefer_ip": "192.168.1.50",
+      "ip_mode": "fixed"
+    },
+    "ir_n1": {
+      "model": "flir_a6750",
+      "mac": "00:11:1c:01:ec:f7",
+      "prefer_ip": "192.168.1.51",
+      "ip_mode": "fixed"
+    },
+    "ir_n2": {
+      "model": "flir_a6750",
+      "mac": "00:11:1c:01:c8:5b",
+      "prefer_ip": "192.168.1.52",
+      "ip_mode": "fixed"
+    },
+    "ir_nb0": {
+      "model": "flir_a645",
+      "mac": "00:11:1c:00:e6:d1",
+      "prefer_ip": "192.168.1.53",
+      "ip_mode": "dhcp"
+    },
+    "ir_nb1": {
+      "model": "flir_a645",
+      "mac": "00:11:1c:00:bf:6a",
+      "prefer_ip": "192.168.1.54",
+      "ip_mode": "dhcp"
+    },
+    "ir_nb2": {
+      "model": "flir_a645",
+      "mac": "00:11:1c",
+      "prefer_ip": "192.168.1.55",
+      "ip_mode": "dhcp"
+    },
+    "rgb_nb0": {
+      "label": "CENTER",
+      "model": "allied_gt6600_rgb",
+      "mac": "00:0f:31:02:37:6c",
+      "prefer_ip": "192.168.4.40",
+      "guid": 145260,
+      "ip_mode": "fixed"
+    },
+    "rgb_nb1": {
+      "label": "unknown",
+      "model": "allied_gt6600_rgb",
+      "mac": "00:0f:31:02:c2:8d",
+      "guid": 180877,
+      "prefer_ip": "192.168.4.41",
+      "ip_mode": "fixed"
+    },
+    "rgb_nb2": {
+      "model": "allied_gt6600_rgb",
+      "label": "CENTER",
+      "mac": "00:0f:31:02:c2:8c",
+      "guid": 180876,
+      "prefer_ip": "192.168.4.42",
+      "ip_mode": "fixed"
+    },
+    "rgb_n0": {
+      "label": "CENTER",
+      "model": "gsm_ix120",
+      "mac": "00:0f:31:02:37:6c",
+      "prefer_ip": "192.168.4.40",
+      "guid": 145260,
+      "ip_mode": "fixed"
+    },
+    "rgb_n1": {
+      "label": "unknown",
+      "model": "gsm_ix120",
+      "mac": "00:0f:31:02:c2:8d",
+      "guid": 180877,
+      "prefer_ip": "192.168.4.41",
+      "ip_mode": "fixed"
+    },
+    "rgb_n2": {
+      "model": "gsm_ix120",
+      "label": "CENTER",
+      "mac": "00:0f:31:02:c2:8c",
+      "guid": 180876,
+      "prefer_ip": "192.168.4.42",
+      "ip_mode": "fixed"
+    },
+    "uv_n0": {
+      "label": "unknown",
+      "model": "allied_gt4907_uv",
+      "mac": "00:0f:31:03:64:5a",
+      "guid": 222298,
+      "prefer_ip": "192.168.2.60",
+      "ip_mode": "linklocal"
+    },
+    "uv_n1": {
+      "label": "unknown",
+      "model": "allied_gt4907_uv",
+      "mac": "00:0f:31:03:65:d0",
+      "guid": 222672,
+      "prefer_ip": "192.168.2.61",
+      "ip_mode": "linklocal"
+    },
+    "uv_n2": {
+      "label": "unknown",
+      "model": "allied_gt4907_uv",
+      "mac": "00:0f:31:03:64:26",
+      "guid": 222246,
+      "prefer_ip": "192.168.2.62",
+      "ip_mode": "linklocal"
+    }
+  },
+  "models": {
+    "flir_a6750": {
+      "mfgr": "flir",
+      "nic_mfgr": "pleora",
+      "mac_prefix": "00:11:1c",
+      "spectrum": "ir",
+      "specs": {
+        "width": 640,
+        "height": 512
+      }
+    },
+    "flir_645": {
+      "mfgr": "flir",
+      "nic_mfgr": "",
+      "mac_prefix": "",
+      "spectrum": "ir",
+      "specs": {
+        "width": 640,
+        "height": 480
+      }
+    },
+    "allied_gt6600_rgb": {
+      "mfgr": "allied vision",
+      "nic_mfgr": "",
+      "mac_prefix": "00:0f:31",
+      "spectrum": "rgb",
+      "specs": {
+        "width": 6576,
+        "height": 4384
+      }
+    },
+    "allied_gt4907_uv": {
+      "mfgr": "allied vision",
+      "nic_mfgr": "",
+      "mac_prefix": "00:0f:31",
+      "spectrum": "uv",
+      "specs": {
+        "width": 4864,
+        "height": 3232
+      }
+    },
+    "gsm_ix120": {
+      "mfgr": "phase one",
+      "nic_mfgr": "",
+      "mac_prefix": "",
+      "spectrum": "rgb",
+      "specs": {
+        "width": 12768,
+        "height": 9654
+      }
+    }
+  },
+  "launch": {
+    "cam": {
+      "rgb": {
+        "GainMode": "Auto",
+        "GainValue": 0
+      },
+      "uv": {
+        "GainMode": "Auto",
+        "GainValue": 0
+      }
+    }
+  }
+}
diff --git a/src/cfg/nayak/config.yaml b/src/cfg/nayak/config.yaml
deleted file mode 100644
index d61a685a..00000000
--- a/src/cfg/nayak/config.yaml
+++ /dev/null
@@ -1,265 +0,0 @@
----
-# This is (eventually) to be the SINGULAR SOURCE OF TRUTH of app deployment configs
-# More static configuration should be handled with compose.yml files and .launch files
-
-# Position of reference frame of the camera array. Corresponds to field of view
-# See airplane diagram:
-# Port     Starbrd
-#       _
-#      /^\
-#    x | | x
-# <==Û=| |=Û==>
-#      | |
-#      \ /
-#     <<V>>
-#[ L] [ C ] [R ] Fields of View
-#
-# {left, right, center, NONE} use NONE with ROLE=NONE
-
-
-# Camera information and configuration:
-arch:
-  max_frame_rate: 2.0 # max fps we can request of the cameras
-  min_frame_rate: 0.1
-  base_template: "{base}/{project}/fl{flight}/{sys_cfg}/"
-  template: "{base}/{project}/fl{flight}/{sys_cfg}/{cam_fov}_view/{project}_fl{flight}_{cf}_{time}_{mode}.{ext}"
-  max_exposure_ms: 125
-  ext_rgb: jpg
-  ext_uv: jpg
-  ext_ir: tif
-  ext_evt: json
-  ext_ins: json
-  hosts:
-    center0nayak:
-      fov: center
-      idx: 0
-      enabled: true
-    left1nayak:
-      fov: left
-      idx: 1
-      enabled: true
-    right2nayak:
-      fov: right
-      idx: 2
-      enabled: true
-    center0spare:
-      fov: center
-      idx: 0
-      enabled: false
-postproc_commands:
-        - "flight_summary"
-        - "homography"
-        - "detections"
-nas_mnt: "/mnt/flight_data"
-local_ssd_mnt: "/mnt/data"
-kamera_dir: "/home/user/kw/kamera"
-gui_cfg_dir: "/home/user/.config/kamera/gui"
-master_host: center0nayak
-redis_host: center0nayak
-verbosity: 9
-max_mpix: 200000 # 0.2e6
-
-channels:
-    rgb: 0
-interfaces:
-  # map channels to ethernet interface names
-  # this is gonna usurp the locations mapping
-  rgb: pci_btm
-  ir: mobo_top
-  uv: mobo_btm
-locations:
-    # this maps a DEV_ID to a specific FOV. Use this section
-    # to swap which physical cameras map to software FOV
-  center:
-    ir: ir_n0
-    rgb: rgb_n0
-    uv: uv_n0
-  left:
-    ir: ir_n1
-    rgb: rgb_n1
-    uv: uv_n1
-  right:
-    ir: ir_n2
-    rgb: rgb_n2
-    uv: uv_n2
-
-enabled:
-  center:
-    rgb: true
-    ir: false
-    uv: false
-  left:
-    rgb: true
-    ir: false
-    uv: false
-  right:
-    rgb: true
-    ir: false
-    uv: false
-
-# This is configuration information for each physical device
-# `ir_n0` is a DEV_ID. This is an abstract label and has no absolute correlation
-# with FOV. This makes it easy and less error-prone to reroute camera defs
-devices:
-# === === === === cooled FLIR cameras === === === ===
-  ir_n0:
-    model: flir_a6750
-    mac: 00:11:1c:02:40:46
-    prefer_ip: '192.168.1.50'
-    ip_mode: fixed
-  ir_n1:
-    model: flir_a6750
-    mac: 00:11:1c:01:ec:f7
-    prefer_ip: '192.168.1.51'
-    ip_mode: fixed
-  ir_n2:
-    model: flir_a6750
-    mac: 00:11:1c:01:c8:5b
-    prefer_ip: '192.168.1.52'
-    ip_mode: fixed
-
-# === === === === IR "backup" cameras === === === ===
-
-  ir_nb0:
-    model: flir_a645
-    mac: 00:11:1c:00:e6:d1
-    prefer_ip: '192.168.1.53'
-    ip_mode: dhcp
-  ir_nb1:
-    model: flir_a645
-    mac: 00:11:1c:00:bf:6a
-    prefer_ip: '192.168.1.54'
-    ip_mode: dhcp
-  ir_nb2:
-    model: flir_a645
-    mac: 00:11:1c
-    prefer_ip: '192.168.1.55'
-    ip_mode: dhcp
-
-# === === === === rgb prosilica backup cameras === === === ===
-  rgb_nb0:
-    label: CENTER
-    model: allied_gt6600_rgb
-    mac: '00:0f:31:02:37:6c'
-    prefer_ip: '192.168.4.40'
-    guid: 145260
-    ip_mode: fixed
-  rgb_nb1:
-    label: unknown
-    model: allied_gt6600_rgb
-    mac: '00:0f:31:02:c2:8d'
-    guid: 180877
-    prefer_ip: '192.168.4.41'
-    ip_mode: fixed
-  rgb_nb2:
-    model: allied_gt6600_rgb
-    label: CENTER
-    mac: '00:0f:31:02:c2:8c'
-    guid: 180876
-    prefer_ip: '192.168.4.42'
-    ip_mode: fixed
-
-# === === === === rgb phase one cameras === === === ===
-  rgb_n0:
-    label: CENTER
-    model: gsm_ix120
-    mac: '00:0f:31:02:37:6c'
-    prefer_ip: '192.168.4.40'
-    guid: 145260
-    ip_mode: fixed
-  rgb_n1:
-    label: unknown
-    model: gsm_ix120
-    mac: '00:0f:31:02:c2:8d'
-    guid: 180877
-    prefer_ip: '192.168.4.41'
-    ip_mode: fixed
-  rgb_n2:
-    model: gsm_ix120
-    label: CENTER
-    mac: '00:0f:31:02:c2:8c'
-    guid: 180876
-    prefer_ip: '192.168.4.42'
-    ip_mode: fixed
-
-# === === === === uv prosilica cameras === === === ===
-  uv_n0:
-    label: unknown
-    model: allied_gt4907_uv
-    mac: '00:0f:31:03:64:5a'
-    guid: 222298
-    prefer_ip: '192.168.2.60'
-    ip_mode: linklocal
-
-  uv_n1:
-    label: unknown
-    model: allied_gt4907_uv
-    mac: '00:0f:31:03:65:d0'
-    guid: 222672
-    prefer_ip: '192.168.2.61'
-    ip_mode: linklocal
-  uv_n2:
-    label: unknown
-    model: allied_gt4907_uv
-    mac: '00:0f:31:03:64:26'
-    guid: 222246
-    prefer_ip: '192.168.2.62'
-    ip_mode: linklocal
-
-# This defines information about the actual camera devices, based on model name
-models:
-  flir_a6750:
-    mfgr: flir
-    nic_mfgr: pleora
-    mac_prefix: 00:11:1c
-    spectrum: ir
-    specs:
-      width: 640
-      height: 512
-  flir_645:
-    mfgr: flir
-    nic_mfgr: ''
-    mac_prefix: ''
-    spectrum: ir
-    specs:
-      width: 640
-      height: 480
-  allied_gt6600_rgb:
-    # last 3 nybbles of MAC is GUID, i.e. 02:c2:8c = 0x02c28c = 180876
-    mfgr: allied vision
-    nic_mfgr: ''
-    mac_prefix: '00:0f:31'
-    spectrum: rgb
-    specs:
-      width: 6576
-      height: 4384
-  allied_gt4907_uv:
-    mfgr: allied vision
-    nic_mfgr: ''
-    mac_prefix: '00:0f:31'
-    spectrum: uv
-    specs:
-      width: 4864
-      height: 3232
-  gsm_ix120:
-    mfgr: phase one
-    nic_mfgr: ''
-    mac_prefix: ''
-    spectrum: rgb
-    specs:
-      width: 12768
-      height: 9654
-
-# expert configs
-
-# launch params - get passed to roslaunch
-launch:
-  cam:
-    rgb:
-      GainMode: Auto
-      GainValue: 0
-
-    uv:
-      GainMode: Auto
-      GainValue: 0
-...
diff --git a/src/cfg/taiga/config.json b/src/cfg/taiga/config.json
new file mode 100644
index 00000000..3a29e87a
--- /dev/null
+++ b/src/cfg/taiga/config.json
@@ -0,0 +1,262 @@
+{
+  "arch": {
+    "max_frame_rate": 2.0,
+    "min_frame_rate": 0.1,
+    "base_template": "{base}/{project}/fl{flight}/{sys_cfg}/",
+    "template": "{base}/{project}/fl{flight}/{sys_cfg}/{cam_fov}_view/{project}_fl{flight}_{cf}_{time}_{mode}.{ext}",
+    "max_exposure_ms": 125,
+    "ext_rgb": "jpg",
+    "ext_uv": "jpg",
+    "ext_ir": "tif",
+    "ext_evt": "json",
+    "ext_ins": "json",
+    "hosts": {
+      "center0taiga": {
+        "fov": "center",
+        "idx": 0,
+        "enabled": true
+      },
+      "left1taiga": {
+        "fov": "left",
+        "idx": 1,
+        "enabled": true
+      },
+      "right2taiga": {
+        "fov": "right",
+        "idx": 2,
+        "enabled": true
+      }
+    }
+  },
+  "postproc_commands": [
+    "flight_summary",
+    "homography",
+    "detections"
+  ],
+  "nas_mnt": "/mnt/flight_data",
+  "local_ssd_mnt": "/mnt/data",
+  "kamera_dir": "/home/user/kw/kamera",
+  "gui_cfg_dir": "/home/user/.config/kamera/gui",
+  "master_host": "center0taiga",
+  "redis_host": "center0taiga",
+  "verbosity": 9,
+  "max_mpix": 200000,
+  "channels": {
+    "ir": 0,
+    "rgb": 1,
+    "uv": 2
+  },
+  "interfaces": {
+    "rgb": "pci_btm",
+    "ir": "mobo_top",
+    "uv": "mobo_btm"
+  },
+  "locations": {
+    "center": {
+      "ir": "ir_n0",
+      "rgb": "rgb_n0",
+      "uv": "uv_n0"
+    },
+    "left": {
+      "ir": "ir_n1",
+      "rgb": "rgb_n1",
+      "uv": "uv_n1"
+    },
+    "right": {
+      "ir": "ir_n2",
+      "rgb": "rgb_n2",
+      "uv": "uv_n2"
+    }
+  },
+  "enabled": {
+    "center": {
+      "ir": true,
+      "rgb": true,
+      "uv": true
+    },
+    "left": {
+      "ir": true,
+      "rgb": true,
+      "uv": true
+    },
+    "right": {
+      "ir": true,
+      "rgb": true,
+      "uv": true
+    }
+  },
+  "devices": {
+    "ir_n0": {
+      "model": "flir_a6750",
+      "mac": "00:11:1c:02:40:46",
+      "prefer_ip": "192.168.1.50",
+      "ip_mode": "fixed"
+    },
+    "ir_n1": {
+      "model": "flir_a6750",
+      "mac": "00:11:1c:01:ec:f7",
+      "prefer_ip": "192.168.1.51",
+      "ip_mode": "fixed"
+    },
+    "ir_n2": {
+      "model": "flir_a6750",
+      "mac": "00:11:1c:01:c8:5b",
+      "prefer_ip": "192.168.1.52",
+      "ip_mode": "fixed"
+    },
+    "ir_nb0": {
+      "model": "flir_a645",
+      "mac": "00:11:1c:00:e6:d1",
+      "prefer_ip": "192.168.1.53",
+      "ip_mode": "dhcp"
+    },
+    "ir_nb1": {
+      "model": "flir_a645",
+      "mac": "00:11:1c:00:bf:6a",
+      "prefer_ip": "192.168.1.54",
+      "ip_mode": "dhcp"
+    },
+    "ir_nb2": {
+      "model": "flir_a645",
+      "mac": "00:11:1c",
+      "prefer_ip": "192.168.1.55",
+      "ip_mode": "dhcp"
+    },
+    "rgb_nb0": {
+      "label": "CENTER",
+      "model": "allied_gt6600_rgb",
+      "mac": "00:0f:31:02:37:6c",
+      "prefer_ip": "192.168.4.40",
+      "guid": 145260,
+      "ip_mode": "fixed"
+    },
+    "rgb_nb1": {
+      "label": "unknown",
+      "model": "allied_gt6600_rgb",
+      "mac": "00:0f:31:02:c2:8d",
+      "guid": 180877,
+      "prefer_ip": "192.168.4.41",
+      "ip_mode": "fixed"
+    },
+    "rgb_nb2": {
+      "model": "allied_gt6600_rgb",
+      "label": "CENTER",
+      "mac": "00:0f:31:02:c2:8c",
+      "guid": 180876,
+      "prefer_ip": "192.168.4.42",
+      "ip_mode": "fixed"
+    },
+    "rgb_n0": {
+      "label": "CENTER",
+      "model": "gsm_ix120",
+      "mac": "00:0f:31:02:37:6c",
+      "prefer_ip": "192.168.4.40",
+      "guid": 145260,
+      "ip_mode": "fixed"
+    },
+    "rgb_n1": {
+      "label": "unknown",
+      "model": "gsm_ix120",
+      "mac": "00:0f:31:02:c2:8d",
+      "guid": 180877,
+      "prefer_ip": "192.168.4.41",
+      "ip_mode": "fixed"
+    },
+    "rgb_n2": {
+      "model": "gsm_ix120",
+      "label": "CENTER",
+      "mac": "00:0f:31:02:c2:8c",
+      "guid": 180876,
+      "prefer_ip": "192.168.4.42",
+      "ip_mode": "fixed"
+    },
+    "uv_n0": {
+      "label": "unknown",
+      "model": "allied_gt4907_uv",
+      "mac": "00:0f:31:03:64:5a",
+      "guid": 222298,
+      "prefer_ip": "192.168.2.60",
+      "ip_mode": "linklocal"
+    },
+    "uv_n1": {
+      "label": "unknown",
+      "model": "allied_gt4907_uv",
+      "mac": "00:0f:31:03:65:d0",
+      "guid": 222672,
+      "prefer_ip": "192.168.2.61",
+      "ip_mode": "linklocal"
+    },
+    "uv_n2": {
+      "label": "unknown",
+      "model": "allied_gt4907_uv",
+      "mac": "00:0f:31:03:64:26",
+      "guid": 222246,
+      "prefer_ip": "192.168.2.62",
+      "ip_mode": "linklocal"
+    }
+  },
+  "models": {
+    "flir_a6750": {
+      "mfgr": "flir",
+      "nic_mfgr": "pleora",
+      "mac_prefix": "00:11:1c",
+      "spectrum": "ir",
+      "specs": {
+        "width": 640,
+        "height": 512
+      }
+    },
+    "flir_645": {
+      "mfgr": "flir",
+      "nic_mfgr": "",
+      "mac_prefix": "",
+      "spectrum": "ir",
+      "specs": {
+        "width": 640,
+        "height": 480
+      }
+    },
+    "allied_gt6600_rgb": {
+      "mfgr": "allied vision",
+      "nic_mfgr": "",
+      "mac_prefix": "00:0f:31",
+      "spectrum": "rgb",
+      "specs": {
+        "width": 6576,
+        "height": 4384
+      }
+    },
+    "allied_gt4907_uv": {
+      "mfgr": "allied vision",
+      "nic_mfgr": "",
+      "mac_prefix": "00:0f:31",
+      "spectrum": "uv",
+      "specs": {
+        "width": 4864,
+        "height": 3232
+      }
+    },
+    "gsm_ix120": {
+      "mfgr": "phase one",
+      "nic_mfgr": "",
+      "mac_prefix": "",
+      "spectrum": "rgb",
+      "specs": {
+        "width": 12768,
+        "height": 9654
+      }
+    }
+  },
+  "launch": {
+    "cam": {
+      "rgb": {
+        "GainMode": "Auto",
+        "GainValue": 0
+      },
+      "uv": {
+        "GainMode": "Auto",
+        "GainValue": 0
+      }
+    }
+  }
+}
diff --git a/src/cfg/taiga/config.yaml b/src/cfg/taiga/config.yaml
deleted file mode 100644
index a02b2f11..00000000
--- a/src/cfg/taiga/config.yaml
+++ /dev/null
@@ -1,263 +0,0 @@
----
-# This is (eventually) to be the SINGULAR SOURCE OF TRUTH of app deployment configs
-# More static configuration should be handled with compose.yml files and .launch files
-
-# Position of reference frame of the camera array. Corresponds to field of view
-# See airplane diagram:
-# Port     Starbrd
-#       _
-#      /^\
-#    x | | x
-# <==Û=| |=Û==>
-#      | |
-#      \ /
-#     <<V>>
-#[ L] [ C ] [R ] Fields of View
-#
-# {left, right, center, NONE} use NONE with ROLE=NONE
-
-
-# Camera information and configuration:
-arch:
-  max_frame_rate: 2.0 # max fps we can request of the cameras
-  min_frame_rate: 0.1
-  base_template: "{base}/{project}/fl{flight}/{sys_cfg}/"
-  template: "{base}/{project}/fl{flight}/{sys_cfg}/{cam_fov}_view/{project}_fl{flight}_{cf}_{time}_{mode}.{ext}"
-  max_exposure_ms: 125
-  ext_rgb: jpg
-  ext_uv: jpg
-  ext_ir: tif
-  ext_evt: json
-  ext_ins: json
-  hosts:
-    center0taiga:
-      fov: center
-      idx: 0
-      enabled: true
-    left1taiga:
-      fov: left
-      idx: 1
-      enabled: true
-    right2taiga:
-      fov: right
-      idx: 2
-      enabled: true
-postproc_commands:
-        - "flight_summary"
-        - "homography"
-        - "detections"
-nas_mnt: "/mnt/flight_data"
-local_ssd_mnt: "/mnt/data"
-kamera_dir: "/home/user/kw/kamera"
-gui_cfg_dir: "/home/user/.config/kamera/gui"
-master_host: center0taiga
-redis_host: center0taiga
-verbosity: 9
-max_mpix: 200000 # 0.2e6
-
-channels:
-    ir: 0
-    rgb: 1
-    uv: 2
-interfaces:
-  # map channels to ethernet interface names
-  # this is gonna usurp the locations mapping
-  rgb: pci_btm
-  ir: mobo_top
-  uv: mobo_btm
-locations:
-    # this maps a DEV_ID to a specific FOV. Use this section
-    # to swap which physical cameras map to software FOV
-  center:
-    ir: ir_n0
-    rgb: rgb_n0
-    uv: uv_n0
-  left:
-    ir: ir_n1
-    rgb: rgb_n1
-    uv: uv_n1
-  right:
-    ir: ir_n2
-    rgb: rgb_n2
-    uv: uv_n2
-
-enabled:
-  center:
-    ir: true
-    rgb: true
-    uv: true
-  left:
-    ir: true
-    rgb: true
-    uv: true
-  right:
-    ir: true
-    rgb: true
-    uv: true
-
-# This is configuration information for each physical device
-# `ir_n0` is a DEV_ID. This is an abstract label and has no absolute correlation
-# with FOV. This makes it easy and less error-prone to reroute camera defs
-devices:
-# === === === === cooled FLIR cameras === === === ===
-  ir_n0:
-    model: flir_a6750
-    mac: 00:11:1c:02:40:46
-    prefer_ip: '192.168.1.50'
-    ip_mode: fixed
-  ir_n1:
-    model: flir_a6750
-    mac: 00:11:1c:01:ec:f7
-    prefer_ip: '192.168.1.51'
-    ip_mode: fixed
-  ir_n2:
-    model: flir_a6750
-    mac: 00:11:1c:01:c8:5b
-    prefer_ip: '192.168.1.52'
-    ip_mode: fixed
-
-# === === === === IR "backup" cameras === === === ===
-
-  ir_nb0:
-    model: flir_a645
-    mac: 00:11:1c:00:e6:d1
-    prefer_ip: '192.168.1.53'
-    ip_mode: dhcp
-  ir_nb1:
-    model: flir_a645
-    mac: 00:11:1c:00:bf:6a
-    prefer_ip: '192.168.1.54'
-    ip_mode: dhcp
-  ir_nb2:
-    model: flir_a645
-    mac: 00:11:1c
-    prefer_ip: '192.168.1.55'
-    ip_mode: dhcp
-
-# === === === === rgb prosilica backup cameras === === === ===
-  rgb_nb0:
-    label: CENTER
-    model: allied_gt6600_rgb
-    mac: '00:0f:31:02:37:6c'
-    prefer_ip: '192.168.4.40'
-    guid: 145260
-    ip_mode: fixed
-  rgb_nb1:
-    label: unknown
-    model: allied_gt6600_rgb
-    mac: '00:0f:31:02:c2:8d'
-    guid: 180877
-    prefer_ip: '192.168.4.41'
-    ip_mode: fixed
-  rgb_nb2:
-    model: allied_gt6600_rgb
-    label: CENTER
-    mac: '00:0f:31:02:c2:8c'
-    guid: 180876
-    prefer_ip: '192.168.4.42'
-    ip_mode: fixed
-
-# === === === === rgb phase one cameras === === === ===
-  rgb_n0:
-    label: CENTER
-    model: gsm_ix120
-    mac: '00:0f:31:02:37:6c'
-    prefer_ip: '192.168.4.40'
-    guid: 145260
-    ip_mode: fixed
-  rgb_n1:
-    label: unknown
-    model: gsm_ix120
-    mac: '00:0f:31:02:c2:8d'
-    guid: 180877
-    prefer_ip: '192.168.4.41'
-    ip_mode: fixed
-  rgb_n2:
-    model: gsm_ix120
-    label: CENTER
-    mac: '00:0f:31:02:c2:8c'
-    guid: 180876
-    prefer_ip: '192.168.4.42'
-    ip_mode: fixed
-
-# === === === === uv prosilica cameras === === === ===
-  uv_n0:
-    label: unknown
-    model: allied_gt4907_uv
-    mac: '00:0f:31:03:64:5a'
-    guid: 222298
-    prefer_ip: '192.168.2.60'
-    ip_mode: linklocal
-
-  uv_n1:
-    label: unknown
-    model: allied_gt4907_uv
-    mac: '00:0f:31:03:65:d0'
-    guid: 222672
-    prefer_ip: '192.168.2.61'
-    ip_mode: linklocal
-  uv_n2:
-    label: unknown
-    model: allied_gt4907_uv
-    mac: '00:0f:31:03:64:26'
-    guid: 222246
-    prefer_ip: '192.168.2.62'
-    ip_mode: linklocal
-
-# This defines information about the actual camera devices, based on model name
-models:
-  flir_a6750:
-    mfgr: flir
-    nic_mfgr: pleora
-    mac_prefix: 00:11:1c
-    spectrum: ir
-    specs:
-      width: 640
-      height: 512
-  flir_645:
-    mfgr: flir
-    nic_mfgr: ''
-    mac_prefix: ''
-    spectrum: ir
-    specs:
-      width: 640
-      height: 480
-  allied_gt6600_rgb:
-    # last 3 nybbles of MAC is GUID, i.e. 02:c2:8c = 0x02c28c = 180876
-    mfgr: allied vision
-    nic_mfgr: ''
-    mac_prefix: '00:0f:31'
-    spectrum: rgb
-    specs:
-      width: 6576
-      height: 4384
-  allied_gt4907_uv:
-    mfgr: allied vision
-    nic_mfgr: ''
-    mac_prefix: '00:0f:31'
-    spectrum: uv
-    specs:
-      width: 4864
-      height: 3232
-  gsm_ix120:
-    mfgr: phase one
-    nic_mfgr: ''
-    mac_prefix: ''
-    spectrum: rgb
-    specs:
-      width: 12768
-      height: 9654
-
-# expert configs
-
-# launch params - get passed to roslaunch
-launch:
-  cam:
-    rgb:
-      GainMode: Auto
-      GainValue: 0
-
-    uv:
-      GainMode: Auto
-      GainValue: 0
-...
diff --git a/src/core/kamcore/scripts/seed_redis_config.py b/src/core/kamcore/scripts/seed_redis_config.py
index f964f52b..220dc0ae 100755
--- a/src/core/kamcore/scripts/seed_redis_config.py
+++ b/src/core/kamcore/scripts/seed_redis_config.py
@@ -1,5 +1,5 @@
 #! /usr/bin/python
-"""Seed Redis with the static system config from config.yaml.
+"""Seed Redis with the static system config from config.json.
 
 kamcore nodes (cam_param_monitor, fps_monitor, ...) read /sys/arch/* and
 /sys/channels straight from Redis, but nothing in the core startup populates
@@ -7,14 +7,14 @@
 wxpython_gui.cfg, so the nodes raced (and crashed against) the GUI on a fresh
 boot. This seeds the static config up front so they no longer depend on it.
 
-Only config.yaml (the static deployment truth) is written; operator-mutable
-session state (flight, project, effort, ...) stays owned by the GUI. config.yaml
+Only config.json (the static deployment truth) is written; operator-mutable
+session state (flight, project, effort, ...) stays owned by the GUI. config.json
 keys are authoritative, so overwriting any stale Redis values here is correct.
 """
 import os
 import sys
 
-import yaml
+import json
 
 from roskv.impl.redis_envoy import RedisEnvoy
 
@@ -23,14 +23,14 @@ def main():
     if len(sys.argv) > 1:
         cfg_file = sys.argv[1]
     else:
-        cfg_file = "/cfg/%s/config.yaml" % os.environ["SYSTEM_NAME"]
+        cfg_file = "/cfg/%s/config.json" % os.environ["SYSTEM_NAME"]
 
     with open(cfg_file, "r") as stream:
-        config = yaml.safe_load(stream)
+        config = json.load(stream)
 
     envoy = RedisEnvoy(os.environ["REDIS_HOST"], client_name="config_seeder")
-    # config.yaml is authoritative for its static keys. Clear each static subtree
-    # first so keys removed from the yaml (e.g. a dropped channel) don't linger
+    # config.json is authoritative for its static keys. Clear each static subtree
+    # first so keys removed from the config (e.g. a dropped channel) don't linger
     # in Redis -- put only sets keys, it never deletes. "arch" also carries the
     # GUI's mutable session state (flight, project, ...), so only its static
     # "hosts" subtree is reset there, never all of /sys/arch.
@@ -44,7 +44,7 @@ def main():
         envoy.delete_dict("/sys/arch/hosts")
     except Exception:
         pass
-    # Mirror wxpython_gui.cfg: each top-level config.yaml key is published under
+    # Mirror wxpython_gui.cfg: each top-level config.json key is published under
     # /sys (RedisEnvoy.put flattens nested dicts into keypaths).
     for key, val in config.items():
         envoy.put("/sys/%s" % key, val)
diff --git a/src/kitware-ros-pkg/wxpython_gui/src/wxpython_gui/cfg.py b/src/kitware-ros-pkg/wxpython_gui/src/wxpython_gui/cfg.py
index 40b24c47..34a36109 100644
--- a/src/kitware-ros-pkg/wxpython_gui/src/wxpython_gui/cfg.py
+++ b/src/kitware-ros-pkg/wxpython_gui/src/wxpython_gui/cfg.py
@@ -5,7 +5,6 @@
 import redis
 import re
 import time
-import yaml
 from collections import OrderedDict
 from functools import reduce
 
@@ -29,11 +28,11 @@
 # These never-changing values are placed under "/sys/arch", and will never
 # have to be backed up
 system_name = os.getenv("SYSTEM_NAME")
-cfg_file = "%s/src/cfg/%s/config.yaml" % (REAL_KAM_REPO_DIR, system_name)
+cfg_file = "%s/src/cfg/%s/config.json" % (REAL_KAM_REPO_DIR, system_name)
 with open(cfg_file, "r") as stream:
     try:
-        USER_CFG = yaml.safe_load(stream)
-    except yaml.YAMLError as exc:
+        USER_CFG = json.load(stream)
+    except json.JSONDecodeError as exc:
         print(exc)
 # Need a redis instance to push/pull from
 kv = ImplEnvoy(host=USER_CFG["redis_host"])
@@ -95,7 +94,7 @@ def update(self, *args, **kwargs):
 #   1. default_system_state.json        factory defaults
 #   2. <gui_cfg_dir>/system_state.json  last session (the only thing saved back)
 #   3. Redis /sys/*                      live runtime values
-#   4. config.yaml (USER_CFG)            static truth; ALWAYS WINS for its keys
+#   4. config.json (USER_CFG)            static truth; ALWAYS WINS for its keys
 # camera_configurations.json owns SYS_CFG["camera_cfgs"].
 
 
@@ -173,8 +172,8 @@ def deep_merge(base, override):
 deep_merge(SYS_ARCH, DEFAULT_STATE)  # 1. factory defaults
 deep_merge(SYS_ARCH, CACHE_STATE)    # 2. operator's last session
 deep_merge(SYS_ARCH, REDIS_LIVE)     # 3. live runtime values
-# 4. config.yaml OWNS the static keys it declares: replace rather than merge, so
-#    a key removed from the yaml (e.g. a dropped channel) can't survive from a
+# 4. config.json OWNS the static keys it declares: replace rather than merge, so
+#    a key removed from the config (e.g. a dropped channel) can't survive from a
 #    lower tier. "arch" mixes static + mutable session subkeys, so only its
 #    static subkeys are replaced.
 for key, val in USER_CFG.items():
@@ -186,7 +185,7 @@ def deep_merge(base, override):
 SYS_ARCH["camera_cfgs"] = CAMERA_PRESETS
 
 # Publish to Redis under /sys. First drop the static subtrees so keys removed
-# from config.yaml don't linger (put only sets keys, never deletes); the update
+# from config.json don't linger (put only sets keys, never deletes); the update
 # then republishes the authoritative values. arch.hosts is the only static dict
 # under "arch" -- the rest of /sys/arch holds mutable state we must not wipe.
 for key, val in USER_CFG.items():
diff --git a/src/run_scripts/entry/master.sh b/src/run_scripts/entry/master.sh
index 8b20abf5..29d8597e 100755
--- a/src/run_scripts/entry/master.sh
+++ b/src/run_scripts/entry/master.sh
@@ -4,7 +4,7 @@
 
 echo "[ ] [ ] [ ] KAMCORE [ ] [ ] [ ] "
 # dump the global config as a debugging step
-cat /cfg/${SYSTEM_NAME}/config.yaml
+cat /cfg/${SYSTEM_NAME}/config.json
 
 source /entry/project_env.sh
 
@@ -27,7 +27,7 @@ redis-client -h ${REDIS_HOST} incr term
 # Seed Redis with the static system config before anything starts, so kamcore
 # nodes (cam_param_monitor, etc.) read /sys/arch from Redis without depending on
 # the GUI. Done before roscore so the --wait monitors can't start until it's up.
-rosrun kamcore seed_redis_config.py /cfg/${SYSTEM_NAME}/config.yaml
+rosrun kamcore seed_redis_config.py /cfg/${SYSTEM_NAME}/config.json
 
 # Start core and block until it's up, then bootstrap parameters
 roscore &
@@ -44,6 +44,6 @@ until /entry/rosnode_list.sh; do
 	fi
 done
 
-rosparam load /cfg/${SYSTEM_NAME}/config.yaml /cfg
+rosparam load /cfg/${SYSTEM_NAME}/config.json /cfg
 exec roslaunch kamcore kamcore.launch data_mount_point:=$DATA_MOUNT_POINT \
     spoof_rate:="${SPOOF_RATE}"

From 7850f22afb386cc36c4671093aa024abe7c29ffb Mon Sep 17 00:00:00 2001
From: "cameron.johnson" <cameron.johnson@kitware.com>
Date: Tue, 29 Sep 2026 10:31:51 -0400
Subject: [PATCH 2/6] Stop installing yq; nothing consumes it since the JSON
 config switch

---
 docker/base/core-deps.dockerfile           |  5 -----
 docker/base/detector-viame-deps.dockerfile |  5 -----
 provision/ansible/playbooks/provision.yml  | 15 ---------------
 3 files changed, 25 deletions(-)

diff --git a/docker/base/core-deps.dockerfile b/docker/base/core-deps.dockerfile
index 18df1ef9..34ecadda 100644
--- a/docker/base/core-deps.dockerfile
+++ b/docker/base/core-deps.dockerfile
@@ -85,11 +85,6 @@ RUN :\
     &&  make -j && make install \
     &&:
 
-# Add yq for configu query to work
-RUN  curl -sL https://github.com/mikefarah/yq/releases/download/3.4.1/yq_linux_amd64 \
-     -o /usr/local/bin/yq && \
-     chmod +x /usr/local/bin/yq
-
 ## ===================  install ebus sdk  ===================
 COPY ./artifacts/ebus.deb /ebus.deb
 COPY ./artifacts/GigE-V-Framework_x86_2.02.0.0132.tar.gz /gigev.tar.gz
diff --git a/docker/base/detector-viame-deps.dockerfile b/docker/base/detector-viame-deps.dockerfile
index 12675132..d1047358 100644
--- a/docker/base/detector-viame-deps.dockerfile
+++ b/docker/base/detector-viame-deps.dockerfile
@@ -37,11 +37,6 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 
 # Build tools necessary for catkin and roskv
 
-# Add yq to make config query work
-RUN curl -sL https://github.com/mikefarah/yq/releases/download/2.4.0/yq_linux_amd64 \
-    -o /usr/local/bin/yq && \
-    chmod +x /usr/local/bin/yq
-
 ## === === === === === === === === === === === === === === ===
 # Clone in C++ Deps for Redis
 RUN mkdir /src
diff --git a/provision/ansible/playbooks/provision.yml b/provision/ansible/playbooks/provision.yml
index 193a3fa2..3c8bd08d 100644
--- a/provision/ansible/playbooks/provision.yml
+++ b/provision/ansible/playbooks/provision.yml
@@ -37,14 +37,6 @@
                     ]
 
   pre_tasks:
-    - shell: uname -s
-      ignore_errors: yes
-      register: uname_s
-
-    - shell: uname -m
-      ignore_errors: yes
-      register: uname_m
-
     - name: Fully Update System
       become: True
       become_user: root
@@ -174,13 +166,6 @@
         groups: ['user', 'docker', 'dialout',  'sudo']
 
   tasks:
-    - name: Install yq
-      become: True
-      get_url:
-        url: "https://github.com/mikefarah/yq/releases/download/2.4.0/yq_{{ uname_s.stdout }}_amd64"
-        dest: /usr/local/bin/yq
-        mode: '0755'
-
           #    - name: Reboot system
           #      become: True
           #      reboot:

From 445946eb786478c4a429b3a6f0e856552c32bb48 Mon Sep 17 00:00:00 2001
From: Adam Romlein <adam.romlein@kitware.com>
Date: Tue, 29 Sep 2026 10:31:51 -0400
Subject: [PATCH 3/6] Remove unused setup scripts: install_extras,
 check_system, setup_kamera_env

Nothing references them; all three still installed or checked for yq.
---
 src/run_scripts/entry/setup_kamera_env.sh |  63 -----------
 src/run_scripts/setup/check_system.sh     | 129 ----------------------
 src/run_scripts/setup/install_extras.bash |  16 ---
 3 files changed, 208 deletions(-)
 delete mode 100755 src/run_scripts/entry/setup_kamera_env.sh
 delete mode 100755 src/run_scripts/setup/check_system.sh
 delete mode 100755 src/run_scripts/setup/install_extras.bash

diff --git a/src/run_scripts/entry/setup_kamera_env.sh b/src/run_scripts/entry/setup_kamera_env.sh
deleted file mode 100755
index 2fdcbb75..00000000
--- a/src/run_scripts/entry/setup_kamera_env.sh
+++ /dev/null
@@ -1,63 +0,0 @@
-#!/usr/bin/env bash
-
-## TODO:     IN THE PROCESS OF DEPRECATION IN FAVOR OF yq-based config
-
-# Set up the environmental variables that define the behavior of the current node
-# This is useful both inside and out of containers
-
-## === === === ===  User-set configuration  === === === ===
-
-KAM_REPO_DIR=$(~/.config/kamera/repo_dir.bash)
-source ${KAM_REPO_DIR}/src/cfg/cfg-aliases.sh  # get cq - ConfigQuery
-
-## tell the system hostname of the node acting as ROS master host
-export MASTER_HOST=$(cq '.master_host')
-
-## === === === ===  Static configuration  === === === ===
-
-export _ROS_PORT=11311
-
-
-## === === === ===  default values === === ===
-# index number of the system, 0 being master
-SYSIDX=0
-
-
-CAM_FOV=${CAM_FOV:-NONE}
-
-
-## === === === ===  Infer variables === === ===
-# Determine env variables based on configuration
-# and parameters from system such as hostname
-
-
-# Check cgroup to see if we are running inside a container
-if [[ -n `grep docker /proc/1/cgroup` ]] ; then
-    export IS_CONTAINER=true
-else
-    export REPO_DIR=$HOME/kw/kamera
-fi
-
-## name of current host
-export HOST=`hostname`
-
-## name of current host, passed to ROS
-export ROS_HOSTNAME=`hostname`
-
-NODE_HOSTNAME=${NODE_HOSTNAME:-${ROS_HOSTNAME}}
-
-echo "node hostname: $NODE_HOSTNAME . is_container: ${IS_CONTAINER:-false}"
-
-if [[ -z ${NODE_HOSTNAME} ]] ; then
-    echo "WARNING: NODE_HOSTNAME not set! This happens in builds, but should not happen in production"
-fi
-
-if [[ -z $IS_CONTAINER ]] ; then
-    SUBDIR=/kw
-    export REPO_DIR=${HOME}${SUBDIR}/kamera
-fi
-
-
-## This is some jankitude to set the pod. I really wanna fix this
-export NODE_HOSTNAME
-export ROS_MASTER_URI="http://${MASTER_HOST}:${_ROS_PORT}/"
diff --git a/src/run_scripts/setup/check_system.sh b/src/run_scripts/setup/check_system.sh
deleted file mode 100755
index 29a8f31d..00000000
--- a/src/run_scripts/setup/check_system.sh
+++ /dev/null
@@ -1,129 +0,0 @@
-#!/usr/bin/env bash
-
-FAIL_ON_CHECK_COMMAND=${FAIL_ON_CHECK_COMMAND}
-
-logbold() {
-  (echo >&2 -e "\e[1m$1\e[0m")
-}
-
-logred() {
-  (echo >&2 -e "\e[31m$1\e[0m")
-}
-
-loggrn() {
-  (echo >&2 -e "\e[32m$1\e[0m")
-}
-
-logyel() {
-  (echo >&2 -e "\e[33m$1\e[0m")
-}
-
-logmag() {
-  (echo >&2 -e "\e[35m$1\e[0m")
-}
-
-
-function check_command() {
-  if ! command -v "${2}" &>/dev/null; then
-    if [[ "$1" == "E" ]]; then
-      MSG="command could not be found. Please make sure it is installed and in your PATH:\e[1m $2"
-      logred "$MSG"
-      if [[ -n "${FAIL_ON_CHECK_COMMAND}" ]]; then
-        exit 1
-      fi
-    else
-      logyel "MISSING :\e[1m $2"
-    fi
-  else
-    loggrn "FOUND   :\e[1m $2"
-  fi
-}
-
-function check_run() {
-  MSG="${1}"
-  ARGS=( "${@:2}" )
-  logmag "checking: ${ARGS[*]}"
-
-  if ! ${ARGS[*]} 1>/dev/null; then
-    MSG="FAILED  : ${MSG}: ${ARGS[*]}"
-    logred "${MSG}"
-  else
-    loggrn "SUCCESS :\e[1m ${MSG}"
-  fi
-}
-
-
-function check_result() {
-  MSG="${1}"
-  LVL="${2}"
-  RES="${3}"
-
-  if [[ -z "${RES}" ]]; then
-    if [[ "${LVL}" == "E" ]]; then
-      logred "FAILED  :\e[1m ${MSG}: false"
-    else
-      logyel "WARNING :\e[1m ${MSG}: false"
-    fi
-  else
-    loggrn "SUCCESS :\e[1m ${MSG}"
-  fi
-}
-
-function check_exists() {
-  PATH="${1}"
-  LVL="${2}"
-
-  if [[ ! -e "${PATH}" ]]; then
-    if [[ "${LVL}" == "E" ]]; then
-      logred "MISSING :\e[1m ${PATH}"
-    else
-      logyel "MISSING :\e[1m ${PATH}"
-    fi
-  else
-    loggrn "FOUND   :\e[1m ${PATH}"
-  fi
-}
-
-
-if ! echo hi | grep -P hi &>/dev/null; then
-  errcho "Error: You need gnu grep (with -P flag) in your PATH"; exit 1
-fi
-
-logbold "checking for which necessary commands are available:"
-
-check_command E docker
-check_command E docker compose
-check_command E python3
-check_command E git
-check_command E ifconfig
-
-logbold "checking for commands necessary for Nuvos:"
-check_command W nvidia-smi
-check_command W redis-cli
-check_command W redis-server
-check_command W yq
-check_command W jq
-
-logbold "checking other conditions:"
-
-for VNAME in REDIS_HOST ROS_MASTER_URI
-do
-  if [[ -z "${!VNAME}" ]]; then
-    logyel "UNSET   :\e[1m ${VNAME}="
-  elif [[ "${!VNAME}" == 'null' ]] ; then
-    echo "ERROR: $VNAME is null. check config"
-  else
-    loggrn "INFO    :\e[1m ${VNAME}=${!VNAME}"
-  fi
-done
-
-check_result "user in docker  group" E "$(groups | grep docker)"
-check_result "user in dialout group" W "$(groups | grep dialout)"
-check_run "connect to redis" "redis-cli -h ${REDIS_HOST} client list"
-check_result "interface pci_top  exists" W "$(ifconfig | grep pci_top)"
-check_result "interface pci_btm  exists" W "$(ifconfig | grep pci_btm)"
-check_result "interface mobo_top exists" W "$(ifconfig | grep mobo_top)"
-check_result "interface mobo_btm exists" W "$(ifconfig | grep mobo_btm)"
-check_result "network is on  192.168.88" W "$(ifconfig | grep '192.168.88')"
-check_exists "$HOME/kw/kamera" E
-
diff --git a/src/run_scripts/setup/install_extras.bash b/src/run_scripts/setup/install_extras.bash
deleted file mode 100755
index 3ebe8f04..00000000
--- a/src/run_scripts/setup/install_extras.bash
+++ /dev/null
@@ -1,16 +0,0 @@
-#!/bin/bash
-# Sets up the Nuvo computer from a fresh Ubuntu X.04 install
-
-sudo apt update
-sudo apt install -y \
-    jq \
-    lm-sensors \
-    tree \
-    cowsay \
-    lldpd
-
-# get yq
-sudo curl -sL https://github.com/mikefarah/yq/releases/download/2.4.0/yq_linux_amd64 \
-    -o /usr/local/bin/yq &&\
-    sudo chmod +x /usr/local/bin/yq
-

From 0d5707a12eb22b9c9ae8d803d4b9aa2a776f36df Mon Sep 17 00:00:00 2001
From: Adam Romlein <adam.romlein@kitware.com>
Date: Tue, 29 Sep 2026 10:48:45 -0400
Subject: [PATCH 4/6] Remove unused nexus and syscall entry scripts

No compose file launches them.
---
 src/run_scripts/entry/nexus.sh   | 14 --------------
 src/run_scripts/entry/syscall.sh | 12 ------------
 2 files changed, 26 deletions(-)
 delete mode 100755 src/run_scripts/entry/nexus.sh
 delete mode 100755 src/run_scripts/entry/syscall.sh

diff --git a/src/run_scripts/entry/nexus.sh b/src/run_scripts/entry/nexus.sh
deleted file mode 100755
index 9e6ef2a7..00000000
--- a/src/run_scripts/entry/nexus.sh
+++ /dev/null
@@ -1,14 +0,0 @@
-#!/bin/bash
-
-# Nexus node startup script
-
-echo "<> <> <> NEXUS <> <> <> "
-source /entry/project.sh
-
-pip install redis
-
-ROSWAIT="--wait"
-
-exec roslaunch "${ROSWAIT}" nexus nexus.launch \
-    system_name:=${NODE_HOSTNAME} \
-    verbosity:=$(/cfg/get ".verbosity")
diff --git a/src/run_scripts/entry/syscall.sh b/src/run_scripts/entry/syscall.sh
deleted file mode 100755
index f2f5445e..00000000
--- a/src/run_scripts/entry/syscall.sh
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/bin/bash
-
-# System call service node
-
-echo "<> <> <> SysCall <> <> <> "
-source /entry/project.sh
-
-ROSWAIT="--wait"
-
-exec roslaunch "${ROSWAIT}" sysinfo syscall.launch \
-    system_name:=`hostname` \
-    verbosity:=$(/cfg/get ".verbosity")

From f2961d3ca2f2cde37316ca9745597558eef51b48 Mon Sep 17 00:00:00 2001
From: Adam Romlein <adam.romlein@kitware.com>
Date: Tue, 29 Sep 2026 10:48:45 -0400
Subject: [PATCH 5/6] Replace cq, get and the /cfg symlink with kamera-cfg

kamera-cfg lives in src/run_scripts/inpath, which is on PATH in the containers and via runtime/env.sh on the host, and finds config.json relative to itself. Callers query the config with 'kamera-cfg <query>' instead of the cq shell function, the get wrapper, or /cfg/get, which read an unset CFG_FILE inside the containers. master.sh and seed_redis_config.py read the config from REPO_DIR, so the /cfg symlink in the core and gui images goes.
---
 docker/core.dockerfile                        |  1 -
 docker/gui.dockerfile                         |  1 -
 runtime/env.sh                                | 16 ++++++-------
 scripts/docker_images.sh                      |  2 +-
 scripts/kamera_halt.sh                        |  6 ++---
 scripts/kamera_run.sh                         | 18 +++++++--------
 src/cfg/README.md                             |  4 ++--
 src/cfg/cfg-aliases.sh                        | 12 ----------
 src/cfg/get                                   |  8 -------
 src/core/kamcore/scripts/seed_redis_config.py |  5 +++-
 src/run_scripts/entry/cam_ir.sh               | 17 +++++---------
 src/run_scripts/entry/cam_phaseone.sh         | 19 ++++++---------
 src/run_scripts/entry/cam_prosilica.sh        | 23 ++++++++-----------
 src/run_scripts/entry/gui.sh                  |  8 +------
 src/run_scripts/entry/master.sh               |  6 ++---
 src/run_scripts/entry/postproc.sh             |  7 +++---
 src/run_scripts/entry/viame.sh                |  7 +++---
 src/run_scripts/inpath/kamera-cfg             |  8 +++++++
 18 files changed, 67 insertions(+), 101 deletions(-)
 delete mode 100755 src/cfg/cfg-aliases.sh
 delete mode 100755 src/cfg/get
 create mode 100755 src/run_scripts/inpath/kamera-cfg

diff --git a/docker/core.dockerfile b/docker/core.dockerfile
index 7dc471b4..1acff66f 100644
--- a/docker/core.dockerfile
+++ b/docker/core.dockerfile
@@ -15,7 +15,6 @@ RUN rm -rf /entry \
     && printf "\nsource /aliases.sh\n" >> /root/.bashrc
 
 RUN ln -sf $REPO_DIR/scripts/activate_ros.bash $REPO_DIR/activate_ros.bash
-RUN ln -sf $REPO_DIR/src/cfg /cfg
 RUN mkdir -p /root/.config/kamera && \
     ln -sf $REPO_DIR/.dir /root/.config/kamera/repo_dir.bash
 
diff --git a/docker/gui.dockerfile b/docker/gui.dockerfile
index fdbf0e66..aa9ac01a 100644
--- a/docker/gui.dockerfile
+++ b/docker/gui.dockerfile
@@ -29,7 +29,6 @@ RUN rm -rf /entry \
     && printf "\nsource /aliases.sh\n" >> /home/user/.bashrc
 
 RUN ln -sf $REPO_DIR/scripts/activate_ros.bash $REPO_DIR/activate_ros.bash
-RUN ln -sf $REPO_DIR/src/cfg /cfg
 RUN mkdir -p /home/user/.config/kamera && \
     ln -sf $REPO_DIR/.dir /home/user/.config/kamera/repo_dir.bash
 
diff --git a/runtime/env.sh b/runtime/env.sh
index 371e23cc..99bb901d 100644
--- a/runtime/env.sh
+++ b/runtime/env.sh
@@ -3,12 +3,12 @@ SYSTEM_NAME="$(cat ${HOME}/kw/SYSTEM_NAME)"
 export SYSTEM_NAME
 
 export KAMERA_DIR=$(${HOME}/.config/kamera/repo_dir.bash)
-CFG_FILE="${KAMERA_DIR}/src/cfg/${SYSTEM_NAME}/config.json"
-cq () {
-    CFG_FILE=${CFG_FILE} ${KAMERA_DIR}/src/cfg/get "$@"
-}
+case ":${PATH}:" in
+    *":${KAMERA_DIR}/src/run_scripts/inpath:"*) ;;
+    *) export PATH="${KAMERA_DIR}/src/run_scripts/inpath:${PATH}" ;;
+esac
 
-export REDIS_HOST=$(cq ".redis_host")
+export REDIS_HOST=$(kamera-cfg ".redis_host")
 
 # Uncomment this line if you wish to run the GUI in "offline" mode
 # (without center0, left1, etc. hooked up)
@@ -28,12 +28,12 @@ unset _redis_elapsed
 
 echo "Redis successfully connected at ${REDIS_HOST}, starting."
 
-export ROS_HOSTNAME=$(cq ".master_host")
+export ROS_HOSTNAME=$(kamera-cfg ".master_host")
 export NODE_HOSTNAME=$(hostname)
 export ROS_MASTER_URI="http://${ROS_HOSTNAME}:11311"
 export DOCKER_KAMERA_DIR="/root/kamera"
-export DATA_MOUNT_POINT=$(cq .local_ssd_mnt)
-export CAM_FOV=$(cq ".arch.hosts[\"${NODE_HOSTNAME}\"].fov")
+export DATA_MOUNT_POINT=$(kamera-cfg .local_ssd_mnt)
+export CAM_FOV=$(kamera-cfg ".arch.hosts[\"${NODE_HOSTNAME}\"].fov")
 
 export ROS_DISTRO="noetic"
 export KAMERA_DNS_IP="192.168.88.1"
diff --git a/scripts/docker_images.sh b/scripts/docker_images.sh
index 600a8356..a4dd51d2 100755
--- a/scripts/docker_images.sh
+++ b/scripts/docker_images.sh
@@ -12,7 +12,7 @@ KAM_REPO_DIR=$(/home/user/.config/kamera/repo_dir.bash)
 echo $KAM_REPO_DIR
 source "${KAM_REPO_DIR}/runtime/env.sh"
 
-MASTER_HOST=$(cq '.master_host')
+MASTER_HOST=$(kamera-cfg '.master_host')
 
 if [[ -z "$@" ]] ; then
     ARGS=(start)
diff --git a/scripts/kamera_halt.sh b/scripts/kamera_halt.sh
index 0f9b7e5b..2fbd7629 100755
--- a/scripts/kamera_halt.sh
+++ b/scripts/kamera_halt.sh
@@ -48,7 +48,7 @@ if [[ -z "${KAM_REPO_DIR}" ]]; then
 fi
 blueprintf "."
 
-MASTER_HOST=$(cq '.master_host')
+MASTER_HOST=$(kamera-cfg '.master_host')
 ## === === === === === ===   End Env setup  === === === === === ===
 
 
@@ -62,8 +62,8 @@ blueprintf "done\nGui down. Killing pods...\n"
 # Bring up all pod systems
 # Query list of hosts as line delim array
 declare -A PIDS
-for host in $(cq '.arch.hosts | keys | join("\n" )') ; do
-    if [[ $(cq ".arch.hosts.${host}.enabled") == 'true' ]]; then
+for host in $(kamera-cfg '.arch.hosts | keys | join("\n" )') ; do
+    if [[ $(kamera-cfg ".arch.hosts.${host}.enabled") == 'true' ]]; then
 	python3 ${KAM_REPO_DIR}/scripts/system.py $host ${ARGS[@]} pod &
         PIDS["${host}_pod"]=$!
 	python3 ${KAM_REPO_DIR}/scripts/system.py $host ${ARGS[@]} detector &
diff --git a/scripts/kamera_run.sh b/scripts/kamera_run.sh
index e9277767..8fd92fbb 100755
--- a/scripts/kamera_run.sh
+++ b/scripts/kamera_run.sh
@@ -60,7 +60,7 @@ blueprintf "Configuring main KAMERA entrypoint."
 source ${KAM_REPO_DIR}/scripts/set_detector_read_state.sh
 blueprintf "."
 
-MASTER_HOST=$(cq '.master_host')
+MASTER_HOST=$(kamera-cfg '.master_host')
 
 for VNAME in MASTER_HOST KAM_REPO_DIR
 do
@@ -81,7 +81,7 @@ until ping -c1 -W1 ${MASTER_HOST} &>/dev/null; do
 done
 
 SKIP_PING=true
-for host in $(cq '.arch.hosts | keys | join("\n" )') ; do
+for host in $(kamera-cfg '.arch.hosts | keys | join("\n" )') ; do
   hostip=$(dig +short $host)
   if [[ $? != 0 ]]; then
     errcho "FATAL: Cannot resolve IP for necassary host ${host}"
@@ -96,9 +96,9 @@ done
 if [[ -n ${SKIP_PING} ]]; then
   echo "all clients located, yay!"
 else
-  for host in $(cq '.arch.hosts | keys | join("\n" )') ; do
+  for host in $(kamera-cfg '.arch.hosts | keys | join("\n" )') ; do
       echo "Waiting on ping $host."
-      if [[ $(cq ".arch.hosts.${host}.enabled") == 'true' ]]; then
+      if [[ $(kamera-cfg ".arch.hosts.${host}.enabled") == 'true' ]]; then
           until ping -c1 -W1 ${host} &>/dev/null; do
               printf "\b${SP:i++%${#SP}:1}"
           done
@@ -119,8 +119,8 @@ else
     echo "NAS mounted!"
 fi
 declare -A PIDS
-for host in $(cq '.arch.hosts | keys | join("\n" )') ; do
-    if [[ $(cq ".arch.hosts.${host}.enabled") == 'true' ]]; then
+for host in $(kamera-cfg '.arch.hosts | keys | join("\n" )') ; do
+    if [[ $(kamera-cfg ".arch.hosts.${host}.enabled") == 'true' ]]; then
 	python3 ${KAM_REPO_DIR}/scripts/system.py $host restart nas &
         PIDS[${host}]=$!
     else
@@ -135,7 +135,7 @@ done
 
 
 # Bring up master and core nodes
-MASTER_HOST=$(cq '.master_host')
+MASTER_HOST=$(kamera-cfg '.master_host')
 blueprintf "done\nBringing up master $MASTER_HOST..."
 python3 ${KAM_REPO_DIR}/scripts/system.py $MASTER_HOST "${ARGS[@]}" master
 
@@ -163,11 +163,11 @@ blueprintf "done\nLaunching pod nodes...\n"
 # Query list of hosts as line delim array
 declare -A PIDS
 # sort, so hosts are started idempotently
-hosts=$(cq '.arch.hosts | keys | join("\n" )')
+hosts=$(kamera-cfg '.arch.hosts | keys | join("\n" )')
 IFS=$'\n' sorted_hosts=($(sort <<<"${hosts[*]}"))
 unset IFS
 for host in "${sorted_hosts[@]}"; do
-    if [[ $(cq ".arch.hosts.${host}.enabled") == 'true' ]]; then
+    if [[ $(kamera-cfg ".arch.hosts.${host}.enabled") == 'true' ]]; then
         # daemon group (kamerad) is always started and never stopped by normal operations
         python3 ${KAM_REPO_DIR}/scripts/system.py $host start daemon
 	python3 ${KAM_REPO_DIR}/scripts/system.py $host "${ARGS[@]}" pod &
diff --git a/src/cfg/README.md b/src/cfg/README.md
index 6fc161fa..c29f25a7 100644
--- a/src/cfg/README.md
+++ b/src/cfg/README.md
@@ -6,8 +6,8 @@ handled with compose.yml files and .launch files.
 
 It is read in two ways, both of which expect plain JSON:
 
-- shell: the `cq` helper (`cfg-aliases.sh` / `runtime/env.sh`) runs
-  `src/cfg/get`, which is a plain `jq -r <query> config.json`
+- shell: `kamera-cfg <query>` (`src/run_scripts/inpath/kamera-cfg`), a
+  plain `jq -r <query> config.json`
 - python: `kamcore/scripts/seed_redis_config.py` and `wxpython_gui.cfg`
   load it and seed the static keys into redis (config.json always wins for
   its keys; operator-mutable session state stays owned by the GUI)
diff --git a/src/cfg/cfg-aliases.sh b/src/cfg/cfg-aliases.sh
deleted file mode 100755
index 486a8c60..00000000
--- a/src/cfg/cfg-aliases.sh
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/usr/bin/env bash
-
-## Aliases used with configurating
-
-## make this config dir self-hosting directory-wise
-CFG_DIR="${KAM_REPO_DIR}/src/cfg"
-export CFG_ALIAS_SET=true
-
-# ConfigQuery
-cq () {
-    CFG_FILE=${CFG_DIR}/${SYSTEM_NAME}/config.json ${CFG_DIR}/get "$@"
-}
diff --git a/src/cfg/get b/src/cfg/get
deleted file mode 100755
index 76493a72..00000000
--- a/src/cfg/get
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-
-# Retrieve values from the per-system config.json; queries are plain jq.
-# (Historically this piped config.yaml through a pinned yq v3 binary into
-# jq; the configs are JSON now, so jq alone does the job.)
-
-CFG_FILE="${CFG_FILE}"
-exec jq -r "${1}" "${CFG_FILE}"
diff --git a/src/core/kamcore/scripts/seed_redis_config.py b/src/core/kamcore/scripts/seed_redis_config.py
index 220dc0ae..4f0f558b 100755
--- a/src/core/kamcore/scripts/seed_redis_config.py
+++ b/src/core/kamcore/scripts/seed_redis_config.py
@@ -23,7 +23,10 @@ def main():
     if len(sys.argv) > 1:
         cfg_file = sys.argv[1]
     else:
-        cfg_file = "/cfg/%s/config.json" % os.environ["SYSTEM_NAME"]
+        cfg_file = "%s/src/cfg/%s/config.json" % (
+            os.environ["REPO_DIR"],
+            os.environ["SYSTEM_NAME"],
+        )
 
     with open(cfg_file, "r") as stream:
         config = json.load(stream)
diff --git a/src/run_scripts/entry/cam_ir.sh b/src/run_scripts/entry/cam_ir.sh
index ed9eab26..12432271 100755
--- a/src/run_scripts/entry/cam_ir.sh
+++ b/src/run_scripts/entry/cam_ir.sh
@@ -5,10 +5,7 @@
 echo "~ ~ ~ ~ ~   IR   ~ ~ ~ ~ ~  "
 source /entry/project_env.sh
 
-KAM_REPO_DIR=$(~/.config/kamera/repo_dir.bash)
-source ${KAM_REPO_DIR}/src/cfg/cfg-aliases.sh  # get cq - ConfigQuery
-
-for VNAME in CFG_ALIAS_SET CAM_FOV CAM_MODE
+for VNAME in SYSTEM_NAME CAM_FOV CAM_MODE
 do
   if [[ -z "${!VNAME}" ]]
   then
@@ -20,33 +17,31 @@ do
 done
 
 NODE_HOSTNAME=${NODE_HOSTNAME:-undefined}
-DEV_ID=$(cq ".locations.${CAM_FOV}.${CAM_MODE}")
+DEV_ID=$(kamera-cfg ".locations.${CAM_FOV}.${CAM_MODE}")
 if [[ ${DEV_ID} == 'null' ]]; then
     printf "<!> Not a valid camera FOV/ mode: ${CAM_FOV}:${CAM_MODE}. oneof: {ir}"
     exit 1
 fi
 
-GUID=$(/cfg/get ".devices.${DEV_ID}.mac")
+GUID=$(kamera-cfg ".devices.${DEV_ID}.mac")
 
 if [[ ${GUID} == 'null' ]]; then
     printf "<!> Unable to find camera GUID: ${CAM_FOV}:${CAM_MODE}"
     exit 1
 fi
 
-CAM_IP=$(cq ".devices.${DEV_ID}.prefer_ip")
+CAM_IP=$(kamera-cfg ".devices.${DEV_ID}.prefer_ip")
 
 if [[ ${CAM_IP} == 'null' ]]; then
     printf "<!> Unable to find camera prefer_ip: ${CAM_FOV}:${CAM_MODE}"
     exit 1
 fi
 
-
-
 ROSWAIT="--wait"
 CAM_PIXEL_FORMAT=${CAM_PIXEL_FORMAT:-mono16}
 CAM_TRIGGER_SOURCE=${CAM_TRIGGER_SOURCE:-External}
 CAM_TIMEOUT=${CAM_TIMEOUT:-3333}
-DRIVER=$(cq ".devices.${DEV_ID}.model").launch
+DRIVER=$(kamera-cfg ".devices.${DEV_ID}.model").launch
 # extra arguments to pass to roslaunch in the form of `argname1:=val argname2:=val`
 CAM_EXTRA_ARGS=${CAM_EXTRA_ARGS:-}
 LOGFILE="/tmp/roslaunch_err_${CAM_FOV}_${CAM_MODE}.log"
@@ -78,7 +73,7 @@ exec roslaunch "${ROSWAIT}" kw_genicam_driver ${DRIVER} \
     camera_manufacturer:=FLIR \
     firmware_mode:=${CAM_PIXEL_FORMAT} \
     nextImage_timeout:=${CAM_TIMEOUT} \
-    info_verbosity:=$(/cfg/get ".verbosity") \
+    info_verbosity:=$(kamera-cfg ".verbosity") \
     ${CAM_EXTRA_ARGS} 2> >(tee -a "${LOGFILE}" >&2) &
 
 STAT_ROS=$!
diff --git a/src/run_scripts/entry/cam_phaseone.sh b/src/run_scripts/entry/cam_phaseone.sh
index 01323e6e..15600084 100755
--- a/src/run_scripts/entry/cam_phaseone.sh
+++ b/src/run_scripts/entry/cam_phaseone.sh
@@ -13,12 +13,7 @@ NODE_HOSTNAME=${NODE_HOSTNAME:-$(hostname)}
 source /entry/project_env.sh
 
 KAM_REPO_DIR=$(~/.config/kamera/repo_dir.bash)
-source ${KAM_REPO_DIR}/src/cfg/cfg-aliases.sh  # get cq - ConfigQuery
 
-if [[ -z "CFG_ALIAS_SET" ]]; then
-    echo "<cam_prosilica.sh> Configuration failed"
-    exit 1
-fi
 
 if [[ $(redis-cli --raw -h $REDIS_HOST get /debug/enable ) == "true" ]]; then
   export KAMERA_DEBUG=true
@@ -29,9 +24,9 @@ if [[ $(redis-cli --raw -h $REDIS_HOST get /debug/enable ) == "true" ]]; then
   fi
 fi
 
-CAM_FOV=${CAM_FOV:-$(cq ".arch.hosts[\"${NODE_HOSTNAME}\"].fov")}
+CAM_FOV=${CAM_FOV:-$(kamera-cfg ".arch.hosts[\"${NODE_HOSTNAME}\"].fov")}
 
-for VNAME in CFG_ALIAS_SET CAM_FOV CAM_MODE
+for VNAME in SYSTEM_NAME CAM_FOV CAM_MODE
 do
   if [[ -z "${!VNAME}" ]]; then
     echo "ERROR: Expected $VNAME environment variable that is missing."
@@ -46,17 +41,17 @@ done
 
 echo "% % % %    CAM-${CAM_MODE}-${CAM_FOV}    % % % %"
 
-DEV_ID=$(cq ".locations.${CAM_FOV}.${CAM_MODE}")
+DEV_ID=$(kamera-cfg ".locations.${CAM_FOV}.${CAM_MODE}")
 if [[ ${DEV_ID} == 'null' ]]; then
     printf "<!> Not a valid camera FOV/ mode: ${CAM_FOV}:${CAM_MODE}. oneof: {ir}"
     exit 1
 fi
 
-CAM_IFACE=$(cq ".interfaces.${CAM_MODE}")
+CAM_IFACE=$(kamera-cfg ".interfaces.${CAM_MODE}")
 if [[ ${CAM_IFACE} == 'null' ]]; then
     printf "<!> Not a valid camera FOV/ mode: ${CAM_FOV}/${CAM_MODE}.
-    CAM_FOV: oneof: `cq '.locations | keys' | tr '\n' ' '`
-    CAM_MODE: oneof: `cq '.channels ' | tr '\n' ' '`\n"
+    CAM_FOV: oneof: `kamera-cfg '.locations | keys' | tr '\n' ' '`
+    CAM_MODE: oneof: `kamera-cfg '.channels ' | tr '\n' ' '`\n"
     exit 1
 fi
 
@@ -67,7 +62,7 @@ if [[ ${CAM_IFACE} == 'null' ]]; then
 fi
 
 #CAM_IP=$(locate-attached.sh "$CAM_IFACE")
-CAM_IP=$(cq ".devices.${DEV_ID}.prefer_ip")
+CAM_IP=$(kamera-cfg ".devices.${DEV_ID}.prefer_ip")
 
 if [[ $? -ne 0 || ${CAM_IP} == 'null' ]]; then
     printf "<!> Unable to find camera IP: ${CAM_FOV}:${CAM_MODE} on interface ${CAM_IFACE}"
diff --git a/src/run_scripts/entry/cam_prosilica.sh b/src/run_scripts/entry/cam_prosilica.sh
index 5d195740..e3051005 100755
--- a/src/run_scripts/entry/cam_prosilica.sh
+++ b/src/run_scripts/entry/cam_prosilica.sh
@@ -13,22 +13,17 @@ NODE_HOSTNAME=${NODE_HOSTNAME:-$(hostname)}
 source /entry/project_env.sh
 
 KAM_REPO_DIR=$(~/.config/kamera/repo_dir.bash)
-source ${KAM_REPO_DIR}/src/cfg/cfg-aliases.sh  # get cq - ConfigQuery
 
-if [[ -z "CFG_ALIAS_SET" ]]; then
-    echo "<cam_prosilica.sh> Configuration failed"
-    exit 1
-fi
 
 if [[ $(redis-cli --raw -h $REDIS_HOST get /debug/enable ) == "true" ]]; then
   export KAMERA_DEBUG=true
 fi
 
 
-CAM_FOV=${CAM_FOV:-$(cq ".arch.hosts[\"${NODE_HOSTNAME}\"].fov")}
+CAM_FOV=${CAM_FOV:-$(kamera-cfg ".arch.hosts[\"${NODE_HOSTNAME}\"].fov")}
 
 
-for VNAME in CFG_ALIAS_SET CAM_FOV CAM_MODE
+for VNAME in SYSTEM_NAME CAM_FOV CAM_MODE
 do
   if [[ -z "${!VNAME}" ]]; then
     echo "ERROR: Expected $VNAME environment variable that is missing."
@@ -43,17 +38,17 @@ done
 
 echo "% % % %    CAM-${CAM_MODE}-${CAM_FOV}    % % % %"
 
-DEV_ID=$(cq ".locations.${CAM_FOV}.${CAM_MODE}")
+DEV_ID=$(kamera-cfg ".locations.${CAM_FOV}.${CAM_MODE}")
 if [[ ${DEV_ID} == 'null' ]]; then
     printf "<!> Not a valid camera FOV/ mode: ${CAM_FOV}:${CAM_MODE}. oneof: {ir}"
     exit 1
 fi
 
-CAM_IFACE=$(cq ".interfaces.${CAM_MODE}")
+CAM_IFACE=$(kamera-cfg ".interfaces.${CAM_MODE}")
 if [[ ${CAM_IFACE} == 'null' ]]; then
     printf "<!> Not a valid camera FOV/ mode: ${CAM_FOV}/${CAM_MODE}.
-    CAM_FOV: oneof: `cq '.locations | keys' | tr '\n' ' '`
-    CAM_MODE: oneof: `cq '.channels ' | tr '\n' ' '`\n"
+    CAM_FOV: oneof: `kamera-cfg '.locations | keys' | tr '\n' ' '`
+    CAM_MODE: oneof: `kamera-cfg '.channels ' | tr '\n' ' '`\n"
     exit 1
 fi
 
@@ -64,7 +59,7 @@ if [[ ${CAM_IFACE} == 'null' ]]; then
 fi
 
 #CAM_IP=$(locate-attached.sh "$CAM_IFACE")
-CAM_IP=$(cq ".devices.${DEV_ID}.prefer_ip")
+CAM_IP=$(kamera-cfg ".devices.${DEV_ID}.prefer_ip")
 
 if [[ $? -ne 0 || ${CAM_IP} == 'null' ]]; then
     printf "<!> Unable to find camera IP: ${CAM_FOV}:${CAM_MODE} on interface ${CAM_IFACE}"
@@ -108,8 +103,8 @@ exec roslaunch "${ROSWAIT}" prosilica_camera prosilica.launch \
     cam_fov:=${CAM_FOV} \
     trigger_mode:=${TRIGGER_MODE} \
     norespawn:=${NORESPAWN} \
-    GainMode:=$(cq ".launch.cam.${CAM_MODE}.GainMode") \
-    GainValue:=$(cq ".launch.cam.${CAM_MODE}.GainValue") 2> >(tee -a "${LOGFILE}" >&2) &
+    GainMode:=$(kamera-cfg ".launch.cam.${CAM_MODE}.GainMode") \
+    GainValue:=$(kamera-cfg ".launch.cam.${CAM_MODE}.GainValue") 2> >(tee -a "${LOGFILE}" >&2) &
 
 STAT_ROS=$!
 wait $STAT_ROS
diff --git a/src/run_scripts/entry/gui.sh b/src/run_scripts/entry/gui.sh
index 6a40ee9b..470cb3c0 100755
--- a/src/run_scripts/entry/gui.sh
+++ b/src/run_scripts/entry/gui.sh
@@ -4,15 +4,10 @@
 
 echo "GUI GUI GUI GUI GUI "
 
-
-KAM_REPO_DIR=$(~/.config/kamera/repo_dir.bash)
-source ${KAM_REPO_DIR}/src/cfg/cfg-aliases.sh  # get cq - ConfigQuery
-
-
 source /entry/project.sh
 source /aliases.sh
 
-for VNAME in CFG_ALIAS_SET ROS_MASTER_URI DATA_MOUNT_POINT
+for VNAME in SYSTEM_NAME ROS_MASTER_URI DATA_MOUNT_POINT
 do
   if [[ -z "${!VNAME}" ]]
   then
@@ -23,7 +18,6 @@ do
   fi
 done
 
-
 NODE_HOSTNAME=${NODE_HOSTNAME:-undefined}
 #pip install --user "src/core/roskv/[redis]"
 #catkin build custom_msgs roskv
diff --git a/src/run_scripts/entry/master.sh b/src/run_scripts/entry/master.sh
index 29d8597e..e806f68d 100755
--- a/src/run_scripts/entry/master.sh
+++ b/src/run_scripts/entry/master.sh
@@ -4,7 +4,7 @@
 
 echo "[ ] [ ] [ ] KAMCORE [ ] [ ] [ ] "
 # dump the global config as a debugging step
-cat /cfg/${SYSTEM_NAME}/config.json
+cat ${REPO_DIR}/src/cfg/${SYSTEM_NAME}/config.json
 
 source /entry/project_env.sh
 
@@ -27,7 +27,7 @@ redis-client -h ${REDIS_HOST} incr term
 # Seed Redis with the static system config before anything starts, so kamcore
 # nodes (cam_param_monitor, etc.) read /sys/arch from Redis without depending on
 # the GUI. Done before roscore so the --wait monitors can't start until it's up.
-rosrun kamcore seed_redis_config.py /cfg/${SYSTEM_NAME}/config.json
+rosrun kamcore seed_redis_config.py ${REPO_DIR}/src/cfg/${SYSTEM_NAME}/config.json
 
 # Start core and block until it's up, then bootstrap parameters
 roscore &
@@ -44,6 +44,6 @@ until /entry/rosnode_list.sh; do
 	fi
 done
 
-rosparam load /cfg/${SYSTEM_NAME}/config.json /cfg
+rosparam load ${REPO_DIR}/src/cfg/${SYSTEM_NAME}/config.json /cfg
 exec roslaunch kamcore kamcore.launch data_mount_point:=$DATA_MOUNT_POINT \
     spoof_rate:="${SPOOF_RATE}"
diff --git a/src/run_scripts/entry/postproc.sh b/src/run_scripts/entry/postproc.sh
index 0fcd987d..a1ad521e 100755
--- a/src/run_scripts/entry/postproc.sh
+++ b/src/run_scripts/entry/postproc.sh
@@ -7,13 +7,12 @@ source /entry/project_env.sh
 ## === === === ===  User-set configuration  === === === ===
 
 KAM_REPO_DIR=$(~/.config/kamera/repo_dir.bash)
-source ${KAM_REPO_DIR}/src/cfg/cfg-aliases.sh  # get cq - ConfigQuery
 
 ## tell the system hostname of the node acting as ROS master host
-export MASTER_HOST=$(cq '.master_host')
+export MASTER_HOST=$(kamera-cfg '.master_host')
 
 NODE_HOSTNAME=${NODE_HOSTNAME:-$(hostname)}
-CAM_FOV=$(cq ".arch.hosts[\"${NODE_HOSTNAME}\"].fov")
+CAM_FOV=$(kamera-cfg ".arch.hosts[\"${NODE_HOSTNAME}\"].fov")
 export NODE_HOSTNAME
 export CAM_FOV
 
@@ -28,7 +27,7 @@ WS_KAMERA=/root/kamera_ws
 
 
 
-for VNAME in CFG_ALIAS_SET DATA_MOUNT_POINT
+for VNAME in SYSTEM_NAME DATA_MOUNT_POINT
 do
   if [[ -z "${!VNAME}" ]]
   then
diff --git a/src/run_scripts/entry/viame.sh b/src/run_scripts/entry/viame.sh
index 86272cef..3fcbf464 100755
--- a/src/run_scripts/entry/viame.sh
+++ b/src/run_scripts/entry/viame.sh
@@ -3,11 +3,10 @@
 ## === === === ===  User-set configuration  === === === ===
 
 source /entry/project_env.sh
-source ${KAM_REPO_DIR}/src/cfg/cfg-aliases.sh  # get cq - ConfigQuery
 
 ## tell the system hostname of the node acting as ROS master host
-export MASTER_HOST=$(cq '.master_host')
-export REDIS_HOST=$(cq '.redis_host')
+export MASTER_HOST=$(kamera-cfg '.master_host')
+export REDIS_HOST=$(kamera-cfg '.redis_host')
 
 NODE_HOSTNAME=${NODE_HOSTNAME:-$(hostname)}
 CAM_FOV="$(redis-cli -h ${REDIS_HOST} -p 6379 get "/sys/arch/hosts/${NODE_HOSTNAME}/fov")"
@@ -47,7 +46,7 @@ fi
 source "${KAM_REPO_DIR}/src/run_scripts/setup/setup_viame_runtime.sh"
 
 
-for VNAME in CFG_ALIAS_SET CAM_FOV MASTER_HOST WS_DEVEL VIAME_INSTALL
+for VNAME in SYSTEM_NAME CAM_FOV MASTER_HOST WS_DEVEL VIAME_INSTALL
 do
   if [[ -z "${!VNAME}" ]]
   then
diff --git a/src/run_scripts/inpath/kamera-cfg b/src/run_scripts/inpath/kamera-cfg
new file mode 100755
index 00000000..71d02531
--- /dev/null
+++ b/src/run_scripts/inpath/kamera-cfg
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+
+# Query this system's config.json with jq, e.g. `kamera-cfg .master_host`.
+# The config is found relative to this script, so it works both on a host and
+# in a container.
+
+CFG_DIR="$(dirname "$(readlink -f "${BASH_SOURCE[0]}")")/../../cfg"
+exec jq -r "$1" "${CFG_DIR}/${SYSTEM_NAME}/config.json"

From 36c182bfa1c08af97b52b1d0f7e63f3edb9f2cdb Mon Sep 17 00:00:00 2001
From: Adam Romlein <adam.romlein@kitware.com>
Date: Tue, 29 Sep 2026 10:49:26 -0400
Subject: [PATCH 6/6] Remove dead inpath symlinks and the GUI halt command that
 used one

The kamera.* links, mount_nas, assert_nas and diskfull pointed into src/run_scripts/newstartup and startup, which no longer exist. SystemCommands' halt target was never sent by the GUI and ran the dead kamera.halt link through an unimported subprocess. scripts/kamera.desktop only launched the dead kamera.run and nothing installs it.
---
 scripts/kamera.desktop                            |  6 ------
 .../src/wxpython_gui/SystemCommands.py            | 15 ---------------
 src/run_scripts/inpath/assert_nas                 |  1 -
 src/run_scripts/inpath/diskfull                   |  1 -
 src/run_scripts/inpath/kamera.cams                |  1 -
 src/run_scripts/inpath/kamera.central             |  1 -
 src/run_scripts/inpath/kamera.detector            |  1 -
 src/run_scripts/inpath/kamera.fixip               |  1 -
 src/run_scripts/inpath/kamera.gui                 |  1 -
 src/run_scripts/inpath/kamera.halt                |  1 -
 src/run_scripts/inpath/kamera.master              |  1 -
 src/run_scripts/inpath/kamera.nexus               |  1 -
 src/run_scripts/inpath/kamera.pod                 |  1 -
 src/run_scripts/inpath/kamera.run                 |  1 -
 src/run_scripts/inpath/mount_nas                  |  1 -
 15 files changed, 34 deletions(-)
 delete mode 100755 scripts/kamera.desktop
 delete mode 120000 src/run_scripts/inpath/assert_nas
 delete mode 120000 src/run_scripts/inpath/diskfull
 delete mode 120000 src/run_scripts/inpath/kamera.cams
 delete mode 120000 src/run_scripts/inpath/kamera.central
 delete mode 120000 src/run_scripts/inpath/kamera.detector
 delete mode 120000 src/run_scripts/inpath/kamera.fixip
 delete mode 120000 src/run_scripts/inpath/kamera.gui
 delete mode 120000 src/run_scripts/inpath/kamera.halt
 delete mode 120000 src/run_scripts/inpath/kamera.master
 delete mode 120000 src/run_scripts/inpath/kamera.nexus
 delete mode 120000 src/run_scripts/inpath/kamera.pod
 delete mode 120000 src/run_scripts/inpath/kamera.run
 delete mode 120000 src/run_scripts/inpath/mount_nas

diff --git a/scripts/kamera.desktop b/scripts/kamera.desktop
deleted file mode 100755
index f94be92c..00000000
--- a/scripts/kamera.desktop
+++ /dev/null
@@ -1,6 +0,0 @@
-[Desktop Entry]
-Exec=bash -c 'kamera.run'
-Name=kamera
-Terminal=true
-Type=Application
-Name[en_US]=kamera.desktop
diff --git a/src/kitware-ros-pkg/wxpython_gui/src/wxpython_gui/SystemCommands.py b/src/kitware-ros-pkg/wxpython_gui/src/wxpython_gui/SystemCommands.py
index d2c1541a..303cd09f 100644
--- a/src/kitware-ros-pkg/wxpython_gui/src/wxpython_gui/SystemCommands.py
+++ b/src/kitware-ros-pkg/wxpython_gui/src/wxpython_gui/SystemCommands.py
@@ -1,4 +1,3 @@
-from wxpython_gui.cfg import kv, DOCK_KAM_REPO_DIR, REAL_KAM_REPO_DIR
 from roskv.util import filter_hosts_by_system
 import time
 import xmlrpc.client as xmlrpclib
@@ -20,7 +19,6 @@ def __init__(self, hosts):
         self.commands = ["up", "down", "restart"]
         self.cams = ["ir", "rgb", "uv"]
         self.devices = ["ins", "daq"]
-        self.halt = "%s/src/run_scripts/inpath/kamera.halt" % REAL_KAM_REPO_DIR
         self.processes = ""
         self.cmd = ""
 
@@ -102,22 +100,12 @@ def command_central(self, host, cmd, devices):
             devices = [devices]
         self.processes = devices
 
-    def command_halt(self):
-        # WARNING will kill the GUI (itself)
-        self.bash = [self.halt]
-        self.run_bash()
-
     def command_postproc(self, host, command, postproc):
         print("Final command: (%s %s)" % (command, postproc))
         self.host = host
         self.cmd = command
         self.processes = ["postproc:%s" % postproc]
 
-    def run_bash(self):
-        bash_cmd = " ".join(self.bash)
-        if len(self.bash) > 0:
-            return_code = subprocess.Popen(bash_cmd, shell=True)
-
 
 class SystemCommands(object):
     def __init__(self, hosts):
@@ -142,9 +130,6 @@ def run_command(
         elif target == "central":
             self.scc.command_central(host, command, containers)
             self.scc.run()
-        elif target == "halt":
-            self.scc.command_halt()
-            self.scc.run()
         elif target == "postproc":
             self.scc.command_postproc(host, command, postproc)
             self.scc.run()
diff --git a/src/run_scripts/inpath/assert_nas b/src/run_scripts/inpath/assert_nas
deleted file mode 120000
index 853b63b6..00000000
--- a/src/run_scripts/inpath/assert_nas
+++ /dev/null
@@ -1 +0,0 @@
-../newstartup/assert_nas.sh
\ No newline at end of file
diff --git a/src/run_scripts/inpath/diskfull b/src/run_scripts/inpath/diskfull
deleted file mode 120000
index 7de08868..00000000
--- a/src/run_scripts/inpath/diskfull
+++ /dev/null
@@ -1 +0,0 @@
-../startup/diskfull.sh
\ No newline at end of file
diff --git a/src/run_scripts/inpath/kamera.cams b/src/run_scripts/inpath/kamera.cams
deleted file mode 120000
index 84f8e692..00000000
--- a/src/run_scripts/inpath/kamera.cams
+++ /dev/null
@@ -1 +0,0 @@
-../newstartup/launchcams.sh
\ No newline at end of file
diff --git a/src/run_scripts/inpath/kamera.central b/src/run_scripts/inpath/kamera.central
deleted file mode 120000
index 61e8aa80..00000000
--- a/src/run_scripts/inpath/kamera.central
+++ /dev/null
@@ -1 +0,0 @@
-../newstartup/launchcentral.sh
\ No newline at end of file
diff --git a/src/run_scripts/inpath/kamera.detector b/src/run_scripts/inpath/kamera.detector
deleted file mode 120000
index 5ce8072d..00000000
--- a/src/run_scripts/inpath/kamera.detector
+++ /dev/null
@@ -1 +0,0 @@
-../newstartup/launchdetector.sh
\ No newline at end of file
diff --git a/src/run_scripts/inpath/kamera.fixip b/src/run_scripts/inpath/kamera.fixip
deleted file mode 120000
index ebb51ec3..00000000
--- a/src/run_scripts/inpath/kamera.fixip
+++ /dev/null
@@ -1 +0,0 @@
-../newstartup/fixcamip.sh
\ No newline at end of file
diff --git a/src/run_scripts/inpath/kamera.gui b/src/run_scripts/inpath/kamera.gui
deleted file mode 120000
index 61838676..00000000
--- a/src/run_scripts/inpath/kamera.gui
+++ /dev/null
@@ -1 +0,0 @@
-../newstartup/launchgui.sh
\ No newline at end of file
diff --git a/src/run_scripts/inpath/kamera.halt b/src/run_scripts/inpath/kamera.halt
deleted file mode 120000
index 1baea443..00000000
--- a/src/run_scripts/inpath/kamera.halt
+++ /dev/null
@@ -1 +0,0 @@
-../newstartup/kamera_halt.sh
\ No newline at end of file
diff --git a/src/run_scripts/inpath/kamera.master b/src/run_scripts/inpath/kamera.master
deleted file mode 120000
index 6556f90b..00000000
--- a/src/run_scripts/inpath/kamera.master
+++ /dev/null
@@ -1 +0,0 @@
-../newstartup/launchmaster.sh
\ No newline at end of file
diff --git a/src/run_scripts/inpath/kamera.nexus b/src/run_scripts/inpath/kamera.nexus
deleted file mode 120000
index fd5d41c2..00000000
--- a/src/run_scripts/inpath/kamera.nexus
+++ /dev/null
@@ -1 +0,0 @@
-../newstartup/launchnexus.sh
\ No newline at end of file
diff --git a/src/run_scripts/inpath/kamera.pod b/src/run_scripts/inpath/kamera.pod
deleted file mode 120000
index 3f03f63d..00000000
--- a/src/run_scripts/inpath/kamera.pod
+++ /dev/null
@@ -1 +0,0 @@
-../newstartup/launchpod.sh
\ No newline at end of file
diff --git a/src/run_scripts/inpath/kamera.run b/src/run_scripts/inpath/kamera.run
deleted file mode 120000
index 343087a8..00000000
--- a/src/run_scripts/inpath/kamera.run
+++ /dev/null
@@ -1 +0,0 @@
-../newstartup/kamera_run.sh
\ No newline at end of file
diff --git a/src/run_scripts/inpath/mount_nas b/src/run_scripts/inpath/mount_nas
deleted file mode 120000
index b82d813a..00000000
--- a/src/run_scripts/inpath/mount_nas
+++ /dev/null
@@ -1 +0,0 @@
-../startup/mount_nas.sh
\ No newline at end of file