feat: C控制程序对接KCP

ros-control-c/README.md

@@ -0,0 +1,71 @@
+# ros-control-c
+
+`ros-control-c` keeps the original 24-byte `twist_cmd_t` control payload and now supports two runtime transports:
+
+- `udp` (default): unchanged from the original implementation
+- `kcp`: sent through OmniSocket using `MSG_TYPE_BINARY`
+
+## Build
+
+On Linux:
+
+```bash
+make -C ros-control-c
+```
+
+If the robot-side Python bridge will use KCP, build and install the OmniSocket Python extension from the repo root first:
+
+```bash
+make python-ext
+make python-install
+```
+
+## UDP Mode
+
+Sender:
+
+```bash
+./ros-control-c/build/keyboard_controller -i 192.168.1.100 -p 9870
+./ros-control-c/build/gamepad_controller -i 192.168.1.100 -p 9870
+```
+
+Robot bridge:
+
+```bash
+python3 ros-control-c/robot/udp_ros_bridge.py
+```
+
+## KCP Mode
+
+Start the existing OmniSocket KCP hub from the repo root:
+
+```bash
+./bin/kcpserver -listen :9002
+```
+
+Sender:
+
+```bash
+./ros-control-c/build/keyboard_controller -t kcp -s 192.168.1.50:9002 -I ros-keyboard-ctrl -T ros-bridge-ctrl
+./ros-control-c/build/gamepad_controller -t kcp -s 192.168.1.50:9002 -I ros-gamepad-ctrl -T ros-bridge-ctrl
+```
+
+If a relay is needed, add `-r <relay_addr>` to the controller command.
+
+Robot bridge:
+
+```bash
+python3 ros-control-c/robot/udp_ros_bridge.py --ros-args \
+  -p transport:=kcp \
+  -p kcp_server:=192.168.1.50:9002 \
+  -p peer_id:=ros-bridge-ctrl
+```
+
+Optional sender filtering:
+
+```bash
+python3 ros-control-c/robot/udp_ros_bridge.py --ros-args \
+  -p transport:=kcp \
+  -p peer_id:=ros-bridge-ctrl \
+  -p expected_sender:=ros-keyboard-ctrl
+```