feat: 视频与控制程序合并

2026-04-04 23:25:43 +08:00
parent 9ffc36f50d
commit 70e835ed49
19 changed files with 1674 additions and 706 deletions
--- a/ros-control-py/README.md
+++ b/ros-control-py/README.md
@@ -131,6 +131,17 @@ ros2 launch udp_teleop_bridge robot_udp_receiver.launch.py \
 expected_sender:=ros-keyboard-ctrl
 ```

+Local daemon handoff via Unix datagram:
+
+```bash
+ros2 launch udp_teleop_bridge robot_udp_receiver.launch.py \
+  transport:=unix_dgram \
+  local_socket_path:=/tmp/omnisocket-b-side-cmd.sock \
+  output_topic:=/hric/robot/cmd_vel \
+  frame_id:=pelvis \
+  watchdog_timeout:=0.5
+```
+
 ## 控制端键盘运行

 终端 A，启动 sender: