diff --git a/include/peer_udp_client.h b/include/peer_udp_client.h
index fc8f64f..937e49e 100644
--- a/include/peer_udp_client.h
+++ b/include/peer_udp_client.h
@@ -8,12 +8,24 @@ extern "C" {
 #endif
 
 typedef struct udp_client udp_client_t;
+typedef struct udp_client_recv_meta {
+    message_type_t type;
+    uint64_t id;
+    char from[OMNI_MAX_PEER_ID];
+    char to[OMNI_MAX_PEER_ID];
+    char file_name[OMNI_MAX_FILE_NAME];
+    size_t body_len;
+} udp_client_recv_meta_t;
 
+udp_client_t *udp_client_dial_with_options(const char *server_addr, const char *peer_id, const char *bind_ip, const char *bind_device, latency_logger_t *logger, tx_timestamp_debug_logger_t *debug_logger, int enable_timestamping);
 udp_client_t *udp_client_dial(const char *server_addr, const char *peer_id, const char *bind_ip, latency_logger_t *logger, tx_timestamp_debug_logger_t *debug_logger, int enable_timestamping);
 const char *udp_client_id(const udp_client_t *client);
 int udp_client_send_text(udp_client_t *client, const char *to, const char *text);
+int udp_client_send_binary(udp_client_t *client, const char *to, const void *data, size_t data_len);
 int udp_client_send_file_path(udp_client_t *client, const char *to, const char *path);
+int udp_client_receive_timed(udp_client_t *client, message_t *out_msg, int timeout_ms);
 int udp_client_receive(udp_client_t *client, message_t *out_msg);
+int udp_client_receive_into(udp_client_t *client, void *buffer, size_t buffer_len, udp_client_recv_meta_t *out_meta, int timeout_ms);
 int udp_client_persist_message(udp_client_t *client, const message_t *msg, const char *inbox_dir, char *out_path, size_t out_path_len);
 int udp_client_close(udp_client_t *client);
 void udp_client_free(udp_client_t *client);
diff --git a/python/omnisocket/__init__.py b/python/omnisocket/__init__.py
index d9244cf..47fbdd5 100644
--- a/python/omnisocket/__init__.py
+++ b/python/omnisocket/__init__.py
@@ -6,6 +6,7 @@ try:
         MSG_TYPE_REGISTER,
         MSG_TYPE_TEXT,
         Session,
+        UdpSession,
     )
 except ImportError as exc:
     raise ImportError(
@@ -41,4 +42,5 @@ __all__ = [
     "MSG_TYPE_REGISTER",
     "MSG_TYPE_TEXT",
     "Session",
+    "UdpSession",
 ]
diff --git a/python/omnisocket/_omnisocket.c b/python/omnisocket/_omnisocket.c
index 38d852f..5536688 100644
--- a/python/omnisocket/_omnisocket.c
+++ b/python/omnisocket/_omnisocket.c
@@ -8,6 +8,11 @@ typedef struct PyOmniSession {
     omnisocket_session_t session;
 } PyOmniSession;
 
+typedef struct PyOmniUdpSession {
+    PyObject_HEAD
+    omnisocket_udp_session_t session;
+} PyOmniUdpSession;
+
 PyDoc_STRVAR(
     PyOmniSession_recv_doc,
     "recv(timeout_ms=-1) -> (from_peer, msg_type, payload) | None"
@@ -22,6 +27,66 @@ PyDoc_STRVAR(
     "current frame has already been consumed and is lost."
 );
 
+static PyObject *build_recv_result(const message_t *msg) {
+    PyObject *body = NULL;
+    PyObject *result = NULL;
+
+    body = PyBytes_FromStringAndSize((const char *) msg->body, (Py_ssize_t) msg->body_len);
+    if (body == NULL) {
+        return NULL;
+    }
+    result = Py_BuildValue("(siO)", msg->from, (int) msg->type, body);
+    Py_DECREF(body);
+    return result;
+}
+
+static PyObject *build_recv_meta_dict(
+    const char *from_peer,
+    const char *to_peer,
+    const char *file_name,
+    int msg_type,
+    unsigned long long message_id,
+    unsigned long long body_len
+) {
+    return Py_BuildValue(
+        "{s:s,s:s,s:s,s:i,s:K,s:K}",
+        "from",
+        from_peer,
+        "to",
+        to_peer,
+        "file_name",
+        file_name,
+        "msg_type",
+        msg_type,
+        "message_id",
+        message_id,
+        "body_len",
+        body_len
+    );
+}
+
+static PyObject *build_stats_dict(const omnisocket_session_stats_t *stats) {
+    return Py_BuildValue(
+        "{s:K,s:K,s:K,s:K,s:K,s:K,s:K,s:i}",
+        "send_calls",
+        (unsigned long long) stats->send_calls,
+        "send_bytes",
+        (unsigned long long) stats->send_bytes,
+        "send_errors",
+        (unsigned long long) stats->send_errors,
+        "recv_calls",
+        (unsigned long long) stats->recv_calls,
+        "recv_bytes",
+        (unsigned long long) stats->recv_bytes,
+        "recv_timeouts",
+        (unsigned long long) stats->recv_timeouts,
+        "recv_errors",
+        (unsigned long long) stats->recv_errors,
+        "connected",
+        stats->connected
+    );
+}
+
 static PyObject *PyOmniSession_new(PyTypeObject *type, PyObject *args, PyObject *kwargs) {
     PyOmniSession *self;
     (void) args;
@@ -165,7 +230,6 @@ static PyObject *PyOmniSession_recv(PyOmniSession *self, PyObject *args, PyObjec
     int timeout_ms = -1;
     int rc;
     message_t msg;
-    PyObject *body = NULL;
     PyObject *result = NULL;
     static char *kwlist[] = {"timeout_ms", NULL};
 
@@ -187,13 +251,7 @@ static PyObject *PyOmniSession_recv(PyOmniSession *self, PyObject *args, PyObjec
         return PyErr_SetFromErrno(PyExc_OSError);
     }
 
-    body = PyBytes_FromStringAndSize((const char *) msg.body, (Py_ssize_t) msg.body_len);
-    if (body == NULL) {
-        protocol_message_clear(&msg);
-        return NULL;
-    }
-    result = Py_BuildValue("(siO)", msg.from, (int) msg.type, body);
-    Py_DECREF(body);
+    result = build_recv_result(&msg);
     protocol_message_clear(&msg);
     return result;
 }
@@ -237,19 +295,12 @@ static PyObject *PyOmniSession_recv_into(PyOmniSession *self, PyObject *args, Py
         return PyErr_SetFromErrno(PyExc_OSError);
     }
 
-    result = Py_BuildValue(
-        "{s:s,s:s,s:s,s:i,s:K,s:K}",
-        "from",
+    result = build_recv_meta_dict(
         meta.from,
-        "to",
         meta.to,
-        "file_name",
         meta.file_name,
-        "msg_type",
         (int) meta.type,
-        "message_id",
         (unsigned long long) meta.id,
-        "body_len",
         (unsigned long long) meta.body_len
     );
     return result;
@@ -260,25 +311,7 @@ static PyObject *PyOmniSession_stats(PyOmniSession *self, PyObject *Py_UNUSED(ig
 
     memset(&stats, 0, sizeof(stats));
     omnisocket_session_stats_snapshot(&self->session, &stats);
-    return Py_BuildValue(
-        "{s:K,s:K,s:K,s:K,s:K,s:K,s:K,s:i}",
-        "send_calls",
-        (unsigned long long) stats.send_calls,
-        "send_bytes",
-        (unsigned long long) stats.send_bytes,
-        "send_errors",
-        (unsigned long long) stats.send_errors,
-        "recv_calls",
-        (unsigned long long) stats.recv_calls,
-        "recv_bytes",
-        (unsigned long long) stats.recv_bytes,
-        "recv_timeouts",
-        (unsigned long long) stats.recv_timeouts,
-        "recv_errors",
-        (unsigned long long) stats.recv_errors,
-        "connected",
-        stats.connected
-    );
+    return build_stats_dict(&stats);
 }
 
 static PyMethodDef PyOmniSession_methods[] = {
@@ -295,6 +328,211 @@ static PyTypeObject PyOmniSessionType = {
     PyVarObject_HEAD_INIT(NULL, 0)
 };
 
+static PyObject *PyOmniUdpSession_new(PyTypeObject *type, PyObject *args, PyObject *kwargs) {
+    PyOmniUdpSession *self;
+    (void) args;
+    (void) kwargs;
+
+    self = (PyOmniUdpSession *) type->tp_alloc(type, 0);
+    if (self == NULL) {
+        return NULL;
+    }
+    if (omnisocket_udp_session_init(&self->session) != 0) {
+        type->tp_free((PyObject *) self);
+        return PyErr_SetFromErrno(PyExc_OSError);
+    }
+    return (PyObject *) self;
+}
+
+static void PyOmniUdpSession_dealloc(PyOmniUdpSession *self) {
+    omnisocket_udp_session_destroy(&self->session);
+    Py_TYPE(self)->tp_free((PyObject *) self);
+}
+
+static PyObject *PyOmniUdpSession_connect(PyOmniUdpSession *self, PyObject *args, PyObject *kwargs) {
+    const char *server_addr;
+    const char *peer_id;
+    const char *bind_ip = "";
+    const char *bind_device = "";
+    int enable_timestamping = 0;
+    int rc;
+
+    static char *kwlist[] = {
+        "server_addr",
+        "peer_id",
+        "bind_ip",
+        "bind_device",
+        "enable_timestamping",
+        NULL
+    };
+
+    if (!PyArg_ParseTupleAndKeywords(
+            args,
+            kwargs,
+            "ss|ssi",
+            kwlist,
+            &server_addr,
+            &peer_id,
+            &bind_ip,
+            &bind_device,
+            &enable_timestamping)) {
+        return NULL;
+    }
+
+    Py_BEGIN_ALLOW_THREADS
+    rc = omnisocket_udp_session_connect(
+        &self->session,
+        server_addr,
+        peer_id,
+        bind_ip,
+        bind_device,
+        enable_timestamping
+    );
+    Py_END_ALLOW_THREADS
+
+    if (rc != 0) {
+        return PyErr_SetFromErrno(PyExc_OSError);
+    }
+    Py_RETURN_NONE;
+}
+
+static PyObject *PyOmniUdpSession_close(PyOmniUdpSession *self, PyObject *Py_UNUSED(ignored)) {
+    int rc;
+
+    Py_BEGIN_ALLOW_THREADS
+    rc = omnisocket_udp_session_close(&self->session);
+    Py_END_ALLOW_THREADS
+
+    if (rc != 0) {
+        return PyErr_SetFromErrno(PyExc_OSError);
+    }
+    Py_RETURN_NONE;
+}
+
+static PyObject *PyOmniUdpSession_send(PyOmniUdpSession *self, PyObject *args, PyObject *kwargs) {
+    const char *to;
+    Py_buffer payload;
+    int rc;
+    static char *kwlist[] = {"to", "data", NULL};
+
+    memset(&payload, 0, sizeof(payload));
+    if (!PyArg_ParseTupleAndKeywords(args, kwargs, "sy*", kwlist, &to, &payload)) {
+        return NULL;
+    }
+
+    Py_BEGIN_ALLOW_THREADS
+    rc = omnisocket_udp_session_send(&self->session, to, payload.buf, (size_t) payload.len);
+    Py_END_ALLOW_THREADS
+
+    PyBuffer_Release(&payload);
+    if (rc != 0) {
+        return PyErr_SetFromErrno(PyExc_OSError);
+    }
+    Py_RETURN_NONE;
+}
+
+static PyObject *PyOmniUdpSession_recv(PyOmniUdpSession *self, PyObject *args, PyObject *kwargs) {
+    int timeout_ms = -1;
+    int rc;
+    message_t msg;
+    PyObject *result = NULL;
+    static char *kwlist[] = {"timeout_ms", NULL};
+
+    if (!PyArg_ParseTupleAndKeywords(args, kwargs, "|i", kwlist, &timeout_ms)) {
+        return NULL;
+    }
+
+    protocol_message_init(&msg);
+    Py_BEGIN_ALLOW_THREADS
+    rc = omnisocket_udp_session_recv(&self->session, &msg, timeout_ms);
+    Py_END_ALLOW_THREADS
+
+    if (rc == 1) {
+        protocol_message_clear(&msg);
+        Py_RETURN_NONE;
+    }
+    if (rc != 0) {
+        protocol_message_clear(&msg);
+        return PyErr_SetFromErrno(PyExc_OSError);
+    }
+
+    result = build_recv_result(&msg);
+    protocol_message_clear(&msg);
+    return result;
+}
+
+static PyObject *PyOmniUdpSession_recv_into(PyOmniUdpSession *self, PyObject *args, PyObject *kwargs) {
+    PyObject *buffer_obj;
+    Py_buffer view;
+    int timeout_ms = -1;
+    int rc;
+    udp_client_recv_meta_t meta;
+    PyObject *result = NULL;
+    static char *kwlist[] = {"buffer", "timeout_ms", NULL};
+
+    memset(&view, 0, sizeof(view));
+    memset(&meta, 0, sizeof(meta));
+
+    if (!PyArg_ParseTupleAndKeywords(args, kwargs, "O|i", kwlist, &buffer_obj, &timeout_ms)) {
+        return NULL;
+    }
+    if (PyObject_GetBuffer(buffer_obj, &view, PyBUF_WRITABLE) != 0) {
+        return NULL;
+    }
+
+    Py_BEGIN_ALLOW_THREADS
+    rc = omnisocket_udp_session_recv_into(&self->session, view.buf, (size_t) view.len, &meta, timeout_ms);
+    Py_END_ALLOW_THREADS
+
+    PyBuffer_Release(&view);
+    if (rc == 1) {
+        Py_RETURN_NONE;
+    }
+    if (rc == 2) {
+        PyErr_Format(
+            PyExc_BufferError,
+            "buffer too small: need %zu bytes; current frame was already consumed and dropped",
+            meta.body_len
+        );
+        return NULL;
+    }
+    if (rc != 0) {
+        return PyErr_SetFromErrno(PyExc_OSError);
+    }
+
+    result = build_recv_meta_dict(
+        meta.from,
+        meta.to,
+        meta.file_name,
+        (int) meta.type,
+        (unsigned long long) meta.id,
+        (unsigned long long) meta.body_len
+    );
+    return result;
+}
+
+static PyObject *PyOmniUdpSession_stats(PyOmniUdpSession *self, PyObject *Py_UNUSED(ignored)) {
+    omnisocket_session_stats_t stats;
+
+    memset(&stats, 0, sizeof(stats));
+    omnisocket_udp_session_stats_snapshot(&self->session, &stats);
+    return build_stats_dict(&stats);
+}
+
+static PyMethodDef PyOmniUdpSession_methods[] = {
+    {"connect", (PyCFunction) PyOmniUdpSession_connect, METH_VARARGS | METH_KEYWORDS, NULL},
+    {"close", (PyCFunction) PyOmniUdpSession_close, METH_NOARGS, NULL},
+    {"send", (PyCFunction) PyOmniUdpSession_send, METH_VARARGS | METH_KEYWORDS, NULL},
+    {"recv", (PyCFunction) PyOmniUdpSession_recv, METH_VARARGS | METH_KEYWORDS, PyOmniSession_recv_doc},
+    {"recv_into", (PyCFunction) PyOmniUdpSession_recv_into, METH_VARARGS | METH_KEYWORDS, PyOmniSession_recv_into_doc},
+    {"stats", (PyCFunction) PyOmniUdpSession_stats, METH_NOARGS, NULL},
+    {NULL, NULL, 0, NULL}
+};
+
+static PyTypeObject PyOmniUdpSessionType = {
+    PyVarObject_HEAD_INIT(NULL, 0)
+};
+
 static PyModuleDef omnisocket_module = {
     PyModuleDef_HEAD_INIT,
     .m_name = "_omnisocket",
@@ -315,6 +553,17 @@ PyMODINIT_FUNC PyInit__omnisocket(void) {
         return NULL;
     }
 
+    PyOmniUdpSessionType.tp_name = "omnisocket.UdpSession";
+    PyOmniUdpSessionType.tp_basicsize = sizeof(PyOmniUdpSession);
+    PyOmniUdpSessionType.tp_flags = Py_TPFLAGS_DEFAULT;
+    PyOmniUdpSessionType.tp_new = PyOmniUdpSession_new;
+    PyOmniUdpSessionType.tp_dealloc = (destructor) PyOmniUdpSession_dealloc;
+    PyOmniUdpSessionType.tp_methods = PyOmniUdpSession_methods;
+
+    if (PyType_Ready(&PyOmniUdpSessionType) < 0) {
+        return NULL;
+    }
+
     module = PyModule_Create(&omnisocket_module);
     if (module == NULL) {
         return NULL;
@@ -327,6 +576,13 @@ PyMODINIT_FUNC PyInit__omnisocket(void) {
         return NULL;
     }
 
+    Py_INCREF(&PyOmniUdpSessionType);
+    if (PyModule_AddObject(module, "UdpSession", (PyObject *) &PyOmniUdpSessionType) != 0) {
+        Py_DECREF(&PyOmniUdpSessionType);
+        Py_DECREF(module);
+        return NULL;
+    }
+
     if (PyModule_AddIntConstant(module, "MSG_TYPE_TEXT", MSG_TYPE_TEXT) != 0 ||
         PyModule_AddIntConstant(module, "MSG_TYPE_FILE", MSG_TYPE_FILE) != 0 ||
         PyModule_AddIntConstant(module, "MSG_TYPE_REGISTER", MSG_TYPE_REGISTER) != 0 ||
diff --git a/python/omnisocket/omnisocket_client.c b/python/omnisocket/omnisocket_client.c
index 3557780..3166476 100644
--- a/python/omnisocket/omnisocket_client.c
+++ b/python/omnisocket/omnisocket_client.c
@@ -246,3 +246,245 @@ void omnisocket_session_stats_snapshot(omnisocket_session_t *session, omnisocket
     *out_stats = session->stats;
     pthread_mutex_unlock(&session->mutex);
 }
+
+int omnisocket_udp_session_init(omnisocket_udp_session_t *session) {
+    int rc;
+
+    if (session == NULL) {
+        errno = EINVAL;
+        return -1;
+    }
+    memset(session, 0, sizeof(*session));
+    rc = pthread_mutex_init(&session->mutex, NULL);
+    if (rc != 0) {
+        errno = rc;
+        return -1;
+    }
+    rc = pthread_cond_init(&session->idle_cond, NULL);
+    if (rc != 0) {
+        pthread_mutex_destroy(&session->mutex);
+        errno = rc;
+        return -1;
+    }
+    return 0;
+}
+
+void omnisocket_udp_session_destroy(omnisocket_udp_session_t *session) {
+    if (session == NULL) {
+        return;
+    }
+    (void) omnisocket_udp_session_close(session);
+    pthread_cond_destroy(&session->idle_cond);
+    pthread_mutex_destroy(&session->mutex);
+}
+
+static int omnisocket_udp_session_begin_client_op(omnisocket_udp_session_t *session, udp_client_t **out_client) {
+    if (session == NULL || out_client == NULL) {
+        errno = EINVAL;
+        return -1;
+    }
+
+    pthread_mutex_lock(&session->mutex);
+    if (session->closing) {
+        pthread_mutex_unlock(&session->mutex);
+        errno = ECANCELED;
+        return -1;
+    }
+    if (session->client == NULL) {
+        pthread_mutex_unlock(&session->mutex);
+        errno = ENOTCONN;
+        return -1;
+    }
+    *out_client = session->client;
+    session->active_ops += 1;
+    pthread_mutex_unlock(&session->mutex);
+    return 0;
+}
+
+int omnisocket_udp_session_connect(
+    omnisocket_udp_session_t *session,
+    const char *server_addr,
+    const char *peer_id,
+    const char *bind_ip,
+    const char *bind_device,
+    int enable_timestamping
+) {
+    udp_client_t *client;
+
+    if (session == NULL || server_addr == NULL || peer_id == NULL) {
+        errno = EINVAL;
+        return -1;
+    }
+
+    pthread_mutex_lock(&session->mutex);
+    while (session->closing) {
+        pthread_cond_wait(&session->idle_cond, &session->mutex);
+    }
+    if (session->client != NULL) {
+        pthread_mutex_unlock(&session->mutex);
+        errno = EISCONN;
+        return -1;
+    }
+    client = udp_client_dial_with_options(
+        server_addr,
+        peer_id,
+        bind_ip,
+        bind_device,
+        NULL,
+        NULL,
+        enable_timestamping
+    );
+    if (client == NULL) {
+        pthread_mutex_unlock(&session->mutex);
+        return -1;
+    }
+    session->client = client;
+    session->stats.connected = 1;
+    pthread_mutex_unlock(&session->mutex);
+    return 0;
+}
+
+int omnisocket_udp_session_close(omnisocket_udp_session_t *session) {
+    udp_client_t *client;
+
+    if (session == NULL) {
+        errno = EINVAL;
+        return -1;
+    }
+
+    pthread_mutex_lock(&session->mutex);
+    while (session->closing) {
+        pthread_cond_wait(&session->idle_cond, &session->mutex);
+    }
+    client = session->client;
+    if (client != NULL) {
+        session->closing = 1;
+        session->client = NULL;
+    }
+    session->stats.connected = 0;
+    pthread_mutex_unlock(&session->mutex);
+
+    if (client != NULL) {
+        udp_client_close(client);
+        pthread_mutex_lock(&session->mutex);
+        while (session->active_ops > 0) {
+            pthread_cond_wait(&session->idle_cond, &session->mutex);
+        }
+        pthread_mutex_unlock(&session->mutex);
+        udp_client_free(client);
+        pthread_mutex_lock(&session->mutex);
+        session->closing = 0;
+        pthread_cond_broadcast(&session->idle_cond);
+        pthread_mutex_unlock(&session->mutex);
+    }
+    return 0;
+}
+
+int omnisocket_udp_session_send(omnisocket_udp_session_t *session, const char *to, const void *data, size_t data_len) {
+    udp_client_t *client;
+    int rc;
+
+    if (session == NULL || to == NULL || (data == NULL && data_len > 0)) {
+        errno = EINVAL;
+        return -1;
+    }
+
+    if (omnisocket_udp_session_begin_client_op(session, &client) != 0) {
+        return -1;
+    }
+    rc = udp_client_send_binary(client, to, data, data_len);
+    pthread_mutex_lock(&session->mutex);
+    if (rc == 0) {
+        session->stats.send_calls += 1;
+        session->stats.send_bytes += (uint64_t) data_len;
+    } else {
+        session->stats.send_errors += 1;
+    }
+    if (session->active_ops > 0) {
+        session->active_ops -= 1;
+    }
+    if (session->closing && session->active_ops == 0) {
+        pthread_cond_broadcast(&session->idle_cond);
+    }
+    pthread_mutex_unlock(&session->mutex);
+    return rc;
+}
+
+int omnisocket_udp_session_recv(omnisocket_udp_session_t *session, message_t *out_msg, int timeout_ms) {
+    udp_client_t *client;
+    int rc;
+
+    if (session == NULL || out_msg == NULL) {
+        errno = EINVAL;
+        return -1;
+    }
+
+    if (omnisocket_udp_session_begin_client_op(session, &client) != 0) {
+        return -1;
+    }
+    rc = udp_client_receive_timed(client, out_msg, timeout_ms);
+    pthread_mutex_lock(&session->mutex);
+    if (rc == 0) {
+        session->stats.recv_calls += 1;
+        session->stats.recv_bytes += (uint64_t) out_msg->body_len;
+    } else if (rc == 1) {
+        session->stats.recv_timeouts += 1;
+    } else {
+        session->stats.recv_errors += 1;
+    }
+    if (session->active_ops > 0) {
+        session->active_ops -= 1;
+    }
+    if (session->closing && session->active_ops == 0) {
+        pthread_cond_broadcast(&session->idle_cond);
+    }
+    pthread_mutex_unlock(&session->mutex);
+    return rc;
+}
+
+int omnisocket_udp_session_recv_into(
+    omnisocket_udp_session_t *session,
+    void *buffer,
+    size_t buffer_len,
+    udp_client_recv_meta_t *out_meta,
+    int timeout_ms
+) {
+    udp_client_t *client;
+    int rc;
+
+    if (session == NULL || out_meta == NULL || (buffer == NULL && buffer_len > 0)) {
+        errno = EINVAL;
+        return -1;
+    }
+
+    if (omnisocket_udp_session_begin_client_op(session, &client) != 0) {
+        return -1;
+    }
+    rc = udp_client_receive_into(client, buffer, buffer_len, out_meta, timeout_ms);
+    pthread_mutex_lock(&session->mutex);
+    if (rc == 0) {
+        session->stats.recv_calls += 1;
+        session->stats.recv_bytes += (uint64_t) out_meta->body_len;
+    } else if (rc == 1) {
+        session->stats.recv_timeouts += 1;
+    } else {
+        session->stats.recv_errors += 1;
+    }
+    if (session->active_ops > 0) {
+        session->active_ops -= 1;
+    }
+    if (session->closing && session->active_ops == 0) {
+        pthread_cond_broadcast(&session->idle_cond);
+    }
+    pthread_mutex_unlock(&session->mutex);
+    return rc;
+}
+
+void omnisocket_udp_session_stats_snapshot(omnisocket_udp_session_t *session, omnisocket_session_stats_t *out_stats) {
+    if (session == NULL || out_stats == NULL) {
+        return;
+    }
+    pthread_mutex_lock(&session->mutex);
+    *out_stats = session->stats;
+    pthread_mutex_unlock(&session->mutex);
+}
diff --git a/python/omnisocket/omnisocket_client.h b/python/omnisocket/omnisocket_client.h
index be9e4b2..2ca5fa4 100644
--- a/python/omnisocket/omnisocket_client.h
+++ b/python/omnisocket/omnisocket_client.h
@@ -2,6 +2,7 @@
 #define OMNISOCKET_PY_CLIENT_H
 
 #include "peer_kcp_client.h"
+#include "peer_udp_client.h"
 
 typedef struct omnisocket_session_stats {
     uint64_t send_calls;
@@ -23,6 +24,15 @@ typedef struct omnisocket_session {
     omnisocket_session_stats_t stats;
 } omnisocket_session_t;
 
+typedef struct omnisocket_udp_session {
+    pthread_mutex_t mutex;
+    pthread_cond_t idle_cond;
+    udp_client_t *client;
+    size_t active_ops;
+    int closing;
+    omnisocket_session_stats_t stats;
+} omnisocket_udp_session_t;
+
 int omnisocket_session_init(omnisocket_session_t *session);
 void omnisocket_session_destroy(omnisocket_session_t *session);
 
@@ -48,4 +58,27 @@ int omnisocket_session_recv_into(
 );
 void omnisocket_session_stats_snapshot(omnisocket_session_t *session, omnisocket_session_stats_t *out_stats);
 
+int omnisocket_udp_session_init(omnisocket_udp_session_t *session);
+void omnisocket_udp_session_destroy(omnisocket_udp_session_t *session);
+
+int omnisocket_udp_session_connect(
+    omnisocket_udp_session_t *session,
+    const char *server_addr,
+    const char *peer_id,
+    const char *bind_ip,
+    const char *bind_device,
+    int enable_timestamping
+);
+int omnisocket_udp_session_close(omnisocket_udp_session_t *session);
+int omnisocket_udp_session_send(omnisocket_udp_session_t *session, const char *to, const void *data, size_t data_len);
+int omnisocket_udp_session_recv(omnisocket_udp_session_t *session, message_t *out_msg, int timeout_ms);
+int omnisocket_udp_session_recv_into(
+    omnisocket_udp_session_t *session,
+    void *buffer,
+    size_t buffer_len,
+    udp_client_recv_meta_t *out_meta,
+    int timeout_ms
+);
+void omnisocket_udp_session_stats_snapshot(omnisocket_udp_session_t *session, omnisocket_session_stats_t *out_stats);
+
 #endif
diff --git a/python/tests/test_sessions.py b/python/tests/test_sessions.py
new file mode 100644
index 0000000..fc56919
--- /dev/null
+++ b/python/tests/test_sessions.py
@@ -0,0 +1,180 @@
+from __future__ import annotations
+
+from contextlib import contextmanager
+from pathlib import Path
+import socket
+import subprocess
+import sys
+import threading
+import time
+
+import pytest
+
+
+pytestmark = pytest.mark.skipif(sys.platform != 'linux', reason='Linux-only OmniSocket extension')
+
+ROOT = Path(__file__).resolve().parents[2]
+PYTHON_ROOT = ROOT / 'python'
+if str(PYTHON_ROOT) not in sys.path:
+    sys.path.insert(0, str(PYTHON_ROOT))
+
+omnisocket = pytest.importorskip('omnisocket')
+
+CONTROL_DEFAULTS = omnisocket.CONTROL_DEFAULTS
+MSG_TYPE_BINARY = omnisocket.MSG_TYPE_BINARY
+Session = omnisocket.Session
+UdpSession = omnisocket.UdpSession
+
+
+def _reserve_port() -> int:
+    with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
+        sock.bind(('127.0.0.1', 0))
+        return int(sock.getsockname()[1])
+
+
+@contextmanager
+def _run_server(binary_name: str, listen_addr: str):
+    binary = ROOT / 'bin' / binary_name
+    if not binary.exists():
+        pytest.skip(f'{binary} is not built')
+
+    process = subprocess.Popen(
+        [str(binary), '-listen', listen_addr],
+        cwd=str(ROOT),
+        stdout=subprocess.DEVNULL,
+        stderr=subprocess.DEVNULL,
+    )
+    try:
+        time.sleep(0.2)
+        yield process
+    finally:
+        process.terminate()
+        try:
+            process.wait(timeout=2.0)
+        except subprocess.TimeoutExpired:
+            process.kill()
+            process.wait(timeout=2.0)
+
+
+def _connect_with_retry(session_cls, *, transport: str, server_addr: str, peer_id: str):
+    deadline = time.monotonic() + 3.0
+    last_error: Exception | None = None
+
+    while time.monotonic() < deadline:
+        session = session_cls()
+        try:
+            kwargs: dict[str, object] = {
+                'server_addr': server_addr,
+                'peer_id': peer_id,
+            }
+            if transport == 'kcp':
+                kwargs.update(CONTROL_DEFAULTS)
+            else:
+                kwargs['enable_timestamping'] = False
+            session.connect(**kwargs)
+            return session
+        except OSError as exc:
+            last_error = exc
+            time.sleep(0.1)
+
+    raise AssertionError(f'failed to connect {peer_id} to {server_addr}: {last_error}')
+
+
+@pytest.mark.parametrize(
+    ('transport', 'binary_name', 'session_cls'),
+    [
+        ('udp', 'udpserver', UdpSession),
+        ('kcp', 'kcpserver', Session),
+    ],
+)
+def test_control_sessions_smoke(transport: str, binary_name: str, session_cls) -> None:
+    port = _reserve_port()
+    listen_addr = f'127.0.0.1:{port}'
+    sender_id = f'pytest-{transport}-sender'
+    receiver_id = f'pytest-{transport}-receiver'
+
+    with _run_server(binary_name, listen_addr):
+        sender = _connect_with_retry(session_cls, transport=transport, server_addr=listen_addr, peer_id=sender_id)
+        receiver = _connect_with_retry(session_cls, transport=transport, server_addr=listen_addr, peer_id=receiver_id)
+
+        try:
+            assert receiver.recv(timeout_ms=20) is None
+
+            payload = b'control-packet-1'
+            sender.send(to=receiver_id, data=payload)
+            from_peer, msg_type, recv_payload = receiver.recv(timeout_ms=1000)
+            assert from_peer == sender_id
+            assert msg_type == MSG_TYPE_BINARY
+            assert recv_payload == payload
+
+            payload2 = b'control-packet-2'
+            sender.send(to=receiver_id, data=payload2)
+            recv_buffer = bytearray(128)
+            meta = receiver.recv_into(buffer=recv_buffer, timeout_ms=1000)
+            assert meta is not None
+            assert meta['from'] == sender_id
+            assert meta['msg_type'] == MSG_TYPE_BINARY
+            assert meta['body_len'] == len(payload2)
+            assert bytes(recv_buffer[: meta['body_len']]) == payload2
+
+            sender_stats = sender.stats()
+            receiver_stats = receiver.stats()
+            assert sender_stats['connected'] == 1
+            assert receiver_stats['connected'] == 1
+            assert sender_stats['send_calls'] >= 2
+            assert receiver_stats['recv_calls'] >= 2
+        finally:
+            sender.close()
+            receiver.close()
+
+
+def test_udp_session_close_interrupts_blocking_recv() -> None:
+    port = _reserve_port()
+    listen_addr = f'127.0.0.1:{port}'
+    receiver_id = 'pytest-udp-blocking-recv'
+
+    with _run_server('udpserver', listen_addr):
+        receiver = _connect_with_retry(
+            UdpSession,
+            transport='udp',
+            server_addr=listen_addr,
+            peer_id=receiver_id,
+        )
+
+        recv_error: list[BaseException] = []
+        close_error: list[BaseException] = []
+        recv_started = threading.Event()
+        recv_done = threading.Event()
+        close_done = threading.Event()
+
+        def recv_worker() -> None:
+            recv_started.set()
+            try:
+                receiver.recv()
+            except BaseException as exc:  # pragma: no cover - assertion is on thread completion
+                recv_error.append(exc)
+            finally:
+                recv_done.set()
+
+        def close_worker() -> None:
+            try:
+                receiver.close()
+            except BaseException as exc:  # pragma: no cover - assertion is on thread completion
+                close_error.append(exc)
+            finally:
+                close_done.set()
+
+        recv_thread = threading.Thread(target=recv_worker, daemon=True)
+        recv_thread.start()
+        assert recv_started.wait(timeout=1.0)
+        time.sleep(0.05)
+
+        close_thread = threading.Thread(target=close_worker, daemon=True)
+        close_thread.start()
+
+        assert close_done.wait(timeout=1.0), 'UdpSession.close() blocked while recv() was waiting'
+        assert recv_done.wait(timeout=1.0), 'UdpSession.recv() stayed blocked after close()'
+        assert not close_thread.is_alive()
+        assert not recv_thread.is_alive()
+        assert not close_error
+        assert not recv_error or isinstance(recv_error[0], OSError)
diff --git a/ros-control-c/README.md b/ros-control-c/README.md
index 98b4726..b280639 100644
--- a/ros-control-c/README.md
+++ b/ros-control-c/README.md
@@ -5,6 +5,11 @@
 - `udp` (default): unchanged from the original implementation
 - `kcp`: sent through OmniSocket using `MSG_TYPE_BINARY`
 
+Note:
+
+- This README documents the `ros-control-c` path only.
+- `ros-control-py` now uses OmniSocket for both `transport:=udp` and `transport:=kcp`; its `udp` mode is no longer raw socket UDP.
+
 ## Build
 
 On Linux:
diff --git a/ros-control-py/README.md b/ros-control-py/README.md
new file mode 100644
index 0000000..1e95736
--- /dev/null
+++ b/ros-control-py/README.md
@@ -0,0 +1,246 @@
+# ROS2 Teleop over OmniSocket UDP/KCP
+
+`ros-control-py/udp_teleop_bridge` 现在把 teleop 控制流统一接到 OmniSocket peer 传输上。
+
+- `transport:=udp` 表示 OmniSocket UDP，经 `udpserver/udppeer` 的消息协议传输
+- `transport:=kcp` 表示 OmniSocket KCP，经 `kcpserver/kcppeer` 的消息协议传输
+- 不再使用原来的裸 `socket.sendto()/recvfrom()` UDP 路径
+
+机器人最终接收的话题保持不变:
+
+- topic: `/hric/robot/cmd_vel`
+- type: `geometry_msgs/msg/TwistStamped`
+- frame_id: `pelvis`
+
+控制负载也保持不变:
+
+- fixed payload: 24-byte little-endian `<6f>`
+- order: `lx, ly, lz, ax, ay, az`
+
+## 目录
+
+- `udp_teleop_bridge/udp_teleop_bridge/cmd_vel_udp_sender.py`: 订阅 `TwistStamped`，经 OmniSocket 发送 24 字节控制包
+- `udp_teleop_bridge/udp_teleop_bridge/udp_cmd_vel_receiver.py`: 从 OmniSocket 接收控制包，补时间戳并发布到机器人 ROS2 topic
+- `udp_teleop_bridge/udp_teleop_bridge/omni_transport.py`: 统一封装 OmniSocket UDP/KCP session
+- `udp_teleop_bridge/config/xbox_twist_joy.yaml`: Xbox 手柄映射
+- `udp_teleop_bridge/launch/*.launch.py`: Linux 启动入口
+
+## Linux 构建
+
+先安装 ROS 2 官方 teleop 依赖:
+
+```bash
+sudo apt install ros-${ROS_DISTRO}-joy ros-${ROS_DISTRO}-teleop-twist-joy ros-${ROS_DISTRO}-teleop-twist-keyboard
+```
+
+再构建并安装 OmniSocket Python 扩展:
+
+```bash
+make python-ext
+make python-install
+```
+
+最后构建 ROS 包:
+
+```bash
+colcon build --packages-select udp_teleop_bridge
+source install/setup.bash
+```
+
+如果 `omnisocket` 没有安装到当前 ROS Python 环境，sender/receiver 会直接报错退出。
+
+## 先验证机器人控制语义
+
+在机器人本机先直接低速发布 `/hric/robot/cmd_vel`，确认 `linear.x`、`linear.y`、`angular.z` 的物理方向符合预期:
+
+```bash
+ros2 topic pub /hric/robot/cmd_vel geometry_msgs/msg/TwistStamped \
+  "{header: {frame_id: pelvis}, twist: {linear: {x: 0.10, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}}" \
+  -r 20
+```
+
+```bash
+ros2 topic pub /hric/robot/cmd_vel geometry_msgs/msg/TwistStamped \
+  "{header: {frame_id: pelvis}, twist: {linear: {x: 0.0, y: 0.10, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}}" \
+  -r 20
+```
+
+```bash
+ros2 topic pub /hric/robot/cmd_vel geometry_msgs/msg/TwistStamped \
+  "{header: {frame_id: pelvis}, twist: {linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.30}}}" \
+  -r 20
+```
+
+停止:
+
+```bash
+ros2 topic pub --once /hric/robot/cmd_vel geometry_msgs/msg/TwistStamped \
+  "{header: {frame_id: pelvis}, twist: {linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}}"
+```
+
+## 启动 OmniSocket Hub
+
+OmniSocket UDP:
+
+```bash
+./bin/udpserver -listen :9001
+```
+
+OmniSocket KCP:
+
+```bash
+./bin/kcpserver -listen :9002
+```
+
+`server_addr` 不传时，节点会按 `transport` 自动选择默认值:
+
+- `udp` -> `127.0.0.1:9001`
+- `kcp` -> `127.0.0.1:9002`
+
+`relay_via` 只在 `transport:=kcp` 时生效。
+
+## 机器人端运行
+
+UDP:
+
+```bash
+ros2 launch udp_teleop_bridge robot_udp_receiver.launch.py \
+  transport:=udp \
+  server_addr:=127.0.0.1:9001 \
+  peer_id:=ros-bridge-ctrl \
+  output_topic:=/hric/robot/cmd_vel \
+  frame_id:=pelvis \
+  watchdog_timeout:=0.5
+```
+
+KCP:
+
+```bash
+ros2 launch udp_teleop_bridge robot_udp_receiver.launch.py \
+  transport:=kcp \
+  server_addr:=127.0.0.1:9002 \
+  peer_id:=ros-bridge-ctrl \
+  output_topic:=/hric/robot/cmd_vel \
+  frame_id:=pelvis \
+  watchdog_timeout:=0.5
+```
+
+如果只允许某个 sender 控制，可以加:
+
+```bash
+expected_sender:=ros-keyboard-ctrl
+```
+
+## 控制端键盘运行
+
+终端 A，启动 sender:
+
+```bash
+ros2 launch udp_teleop_bridge keyboard_sender.launch.py \
+  transport:=udp \
+  server_addr:=127.0.0.1:9001 \
+  peer_id:=ros-keyboard-ctrl \
+  target_peer:=ros-bridge-ctrl
+```
+
+如果走 KCP:
+
+```bash
+ros2 launch udp_teleop_bridge keyboard_sender.launch.py \
+  transport:=kcp \
+  server_addr:=127.0.0.1:9002 \
+  peer_id:=ros-keyboard-ctrl \
+  target_peer:=ros-bridge-ctrl
+```
+
+终端 B，启动官方键盘 teleop:
+
+```bash
+ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args \
+  --remap cmd_vel:=/teleop/cmd_vel \
+  -p stamped:=true \
+  -p frame_id:=pelvis \
+  -p speed:=0.20 \
+  -p turn:=0.60
+```
+
+键盘默认键位（`teleop_twist_keyboard`，建议使用 US 键盘布局）:
+
+- `i`: 前进（`linear.x > 0`）
+- `,`: 后退（`linear.x < 0`）
+- `j`: 左转（`angular.z > 0`）
+- `l`: 右转（`angular.z < 0`）
+- `Shift + J`: 左平移（`linear.y > 0`）
+- `Shift + L`: 右平移（`linear.y < 0`）
+- `u` / `o` / `m` / `.`: 组合前进或后退加转向
+- `k` 或其他未映射按键: 停止
+- `q` / `z`: 整体速度增加 / 降低 10%
+- `w` / `x`: 仅线速度增加 / 降低 10%
+- `e` / `c`: 仅角速度增加 / 降低 10%
+- `Ctrl-C`: 退出键盘 teleop
+
+## 控制端 Xbox 手柄运行
+
+UDP:
+
+```bash
+ros2 launch udp_teleop_bridge xbox_to_udp.launch.py \
+  transport:=udp \
+  server_addr:=127.0.0.1:9001 \
+  peer_id:=ros-gamepad-ctrl \
+  target_peer:=ros-bridge-ctrl \
+  joy_dev:=/dev/input/js0 \
+  frame_id:=pelvis
+```
+
+KCP:
+
+```bash
+ros2 launch udp_teleop_bridge xbox_to_udp.launch.py \
+  transport:=kcp \
+  server_addr:=127.0.0.1:9002 \
+  peer_id:=ros-gamepad-ctrl \
+  target_peer:=ros-bridge-ctrl \
+  joy_dev:=/dev/input/js0 \
+  frame_id:=pelvis
+```
+
+当前默认手柄映射:
+
+- 左摇杆上下 -> `linear.x`
+- 左摇杆左右 -> `linear.y`
+- 右摇杆左右 -> `angular.z`
+- `RB` 按住才允许运动
+- `LB` 为 turbo
+
+手柄实际操控含义（基于 `config/xbox_twist_joy.yaml` 的 Xbox 默认映射）:
+
+- 左摇杆向前 / 向后: 前进 / 后退
+- 左摇杆向左 / 向右: 左平移 / 右平移
+- 右摇杆向左 / 向右: 左转 / 右转
+- 按住 `RB`: 以常速启用运动输出
+- 同时按住 `LB` + `RB`: 启用 turbo，更高的线速度和角速度
+- 松开 `RB` 或将摇杆回中: 输出回到零速
+
+## 数据流
+
+键盘链路:
+
+```text
+teleop_twist_keyboard -> /teleop/cmd_vel (TwistStamped) -> cmd_vel_udp_sender -> OmniSocket UDP/KCP -> udp_cmd_vel_receiver -> /hric/robot/cmd_vel
+```
+
+手柄链路:
+
+```text
+joy_node -> teleop_twist_joy -> /teleop/cmd_vel (TwistStamped) -> cmd_vel_udp_sender -> OmniSocket UDP/KCP -> udp_cmd_vel_receiver -> /hric/robot/cmd_vel
+```
+
+## 安全行为
+
+- sender 默认按 20 Hz 重发最新命令
+- sender 输入超时后会改发零速
+- sender 退出时会主动发送数个零速控制包
+- receiver 超时后会在 ROS 主线程发布零速 stop
+- receiver 只接受 `MSG_TYPE_BINARY` 且长度为 24 字节的负载
+- 非预期 sender、非 binary 消息、错误长度消息都会被丢弃并记录日志
diff --git a/ros-control-py/ROS2 Teleop over UDP.md b/ros-control-py/ROS2 Teleop over UDP.md
new file mode 100644
index 0000000..6f10d33
--- /dev/null
+++ b/ros-control-py/ROS2 Teleop over UDP.md	
@@ -0,0 +1,147 @@
+## ROS2 Teleop over OmniSocket UDP/KCP
+
+这个文档对应 `ros-control-py/udp_teleop_bridge` 的当前实现。
+
+核心变化:
+
+- `transport:=udp` 现在表示 OmniSocket UDP
+- `transport:=kcp` 表示 OmniSocket KCP
+- 不再使用原来的裸 `socket` UDP 实现
+
+控制接口保持不变:
+
+- topic: `/hric/robot/cmd_vel`
+- type: `geometry_msgs/msg/TwistStamped`
+- frame_id: `pelvis`
+- payload: fixed 24-byte little-endian `<6f>`
+
+负载顺序:
+
+`lx, ly, lz, ax, ay, az`
+
+### 构建顺序
+
+```bash
+make python-ext
+make python-install
+```
+
+```bash
+colcon build --packages-select udp_teleop_bridge
+source install/setup.bash
+```
+
+### 启动 Hub
+
+OmniSocket UDP:
+
+```bash
+./bin/udpserver -listen :9001
+```
+
+OmniSocket KCP:
+
+```bash
+./bin/kcpserver -listen :9002
+```
+
+### 机器人端 Receiver
+
+```bash
+ros2 launch udp_teleop_bridge robot_udp_receiver.launch.py \
+  transport:=udp \
+  server_addr:=127.0.0.1:9001 \
+  peer_id:=ros-bridge-ctrl \
+  output_topic:=/hric/robot/cmd_vel \
+  frame_id:=pelvis \
+  watchdog_timeout:=0.5
+```
+
+KCP 只需把 `transport` 和 `server_addr` 改成:
+
+```bash
+transport:=kcp server_addr:=127.0.0.1:9002
+```
+
+只接受指定 sender:
+
+```bash
+expected_sender:=ros-keyboard-ctrl
+```
+
+### 键盘 Sender
+
+```bash
+ros2 launch udp_teleop_bridge keyboard_sender.launch.py \
+  transport:=udp \
+  server_addr:=127.0.0.1:9001 \
+  peer_id:=ros-keyboard-ctrl \
+  target_peer:=ros-bridge-ctrl
+```
+
+```bash
+ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args \
+  --remap cmd_vel:=/teleop/cmd_vel \
+  -p stamped:=true \
+  -p frame_id:=pelvis \
+  -p speed:=0.20 \
+  -p turn:=0.60
+```
+
+### Xbox Sender
+
+```bash
+ros2 launch udp_teleop_bridge xbox_to_udp.launch.py \
+  transport:=udp \
+  server_addr:=127.0.0.1:9001 \
+  peer_id:=ros-gamepad-ctrl \
+  target_peer:=ros-bridge-ctrl \
+  joy_dev:=/dev/input/js0 \
+  frame_id:=pelvis
+```
+
+### 参数语义
+
+- sender:
+  - `transport`
+  - `server_addr`
+  - `relay_via`
+  - `peer_id`
+  - `target_peer`
+  - `input_topic`
+  - `send_rate_hz`
+  - `input_timeout`
+- receiver:
+  - `transport`
+  - `server_addr`
+  - `relay_via`
+  - `peer_id`
+  - `expected_sender`
+  - `output_topic`
+  - `frame_id`
+  - `watchdog_timeout`
+  - `publish_rate_hz`
+
+`server_addr` 省略时，会按 transport 自动选择:
+
+- `udp` -> `127.0.0.1:9001`
+- `kcp` -> `127.0.0.1:9002`
+
+### 数据流
+
+```text
+teleop_twist_keyboard / teleop_twist_joy
+  -> /teleop/cmd_vel (TwistStamped)
+  -> cmd_vel_udp_sender
+  -> OmniSocket UDP/KCP binary message
+  -> udp_cmd_vel_receiver
+  -> /hric/robot/cmd_vel
+```
+
+### 安全与约束
+
+- sender 默认 20 Hz 重发
+- sender 输入超时后改发零速
+- receiver watchdog 超时后发零速 stop
+- receiver 只接受 24 字节 binary 负载
+- `relay_via` 只在 KCP 模式有效
diff --git a/ros-control-py/udp_teleop_bridge/config/xbox_twist_joy.yaml b/ros-control-py/udp_teleop_bridge/config/xbox_twist_joy.yaml
new file mode 100644
index 0000000..c48735e
--- /dev/null
+++ b/ros-control-py/udp_teleop_bridge/config/xbox_twist_joy.yaml
@@ -0,0 +1,32 @@
+/**:
+  ros__parameters:
+    require_enable_button: true
+    enable_button: 5
+    enable_turbo_button: 4
+    axis_linear:
+      x: 1
+      y: 0
+      z: -1
+    scale_linear:
+      x: -0.30
+      y: -0.25
+      z: 0.0
+    scale_linear_turbo:
+      x: -0.60
+      y: -0.45
+      z: 0.0
+    axis_angular:
+      yaw: 3
+      pitch: -1
+      roll: -1
+    scale_angular:
+      yaw: -0.80
+      pitch: 0.0
+      roll: 0.0
+    scale_angular_turbo:
+      yaw: -1.20
+      pitch: 0.0
+      roll: 0.0
+    inverted_reverse: false
+    publish_stamped_twist: true
+    frame: pelvis
diff --git a/ros-control-py/udp_teleop_bridge/launch/keyboard_sender.launch.py b/ros-control-py/udp_teleop_bridge/launch/keyboard_sender.launch.py
new file mode 100644
index 0000000..49d7667
--- /dev/null
+++ b/ros-control-py/udp_teleop_bridge/launch/keyboard_sender.launch.py
@@ -0,0 +1,34 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
+
+
+def generate_launch_description() -> LaunchDescription:
+    return LaunchDescription([
+        DeclareLaunchArgument('transport', default_value='udp'),
+        DeclareLaunchArgument('server_addr', default_value=''),
+        DeclareLaunchArgument('relay_via', default_value=''),
+        DeclareLaunchArgument('peer_id', default_value='ros-keyboard-ctrl'),
+        DeclareLaunchArgument('target_peer', default_value='ros-bridge-ctrl'),
+        DeclareLaunchArgument('input_topic', default_value='/teleop/cmd_vel'),
+        DeclareLaunchArgument('send_rate_hz', default_value='20.0'),
+        DeclareLaunchArgument('input_timeout', default_value='0.75'),
+        Node(
+            package='udp_teleop_bridge',
+            executable='cmd_vel_udp_sender',
+            name='cmd_vel_udp_sender',
+            output='screen',
+            parameters=[{
+                'transport': LaunchConfiguration('transport'),
+                'server_addr': LaunchConfiguration('server_addr'),
+                'relay_via': LaunchConfiguration('relay_via'),
+                'peer_id': LaunchConfiguration('peer_id'),
+                'target_peer': LaunchConfiguration('target_peer'),
+                'input_topic': LaunchConfiguration('input_topic'),
+                'send_rate_hz': ParameterValue(LaunchConfiguration('send_rate_hz'), value_type=float),
+                'input_timeout': ParameterValue(LaunchConfiguration('input_timeout'), value_type=float),
+            }],
+        ),
+    ])
diff --git a/ros-control-py/udp_teleop_bridge/launch/robot_udp_receiver.launch.py b/ros-control-py/udp_teleop_bridge/launch/robot_udp_receiver.launch.py
new file mode 100644
index 0000000..c27acc4
--- /dev/null
+++ b/ros-control-py/udp_teleop_bridge/launch/robot_udp_receiver.launch.py
@@ -0,0 +1,36 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
+
+
+def generate_launch_description() -> LaunchDescription:
+    return LaunchDescription([
+        DeclareLaunchArgument('transport', default_value='udp'),
+        DeclareLaunchArgument('server_addr', default_value=''),
+        DeclareLaunchArgument('relay_via', default_value=''),
+        DeclareLaunchArgument('peer_id', default_value='ros-bridge-ctrl'),
+        DeclareLaunchArgument('expected_sender', default_value=''),
+        DeclareLaunchArgument('output_topic', default_value='/hric/robot/cmd_vel'),
+        DeclareLaunchArgument('frame_id', default_value='pelvis'),
+        DeclareLaunchArgument('watchdog_timeout', default_value='0.5'),
+        DeclareLaunchArgument('publish_rate_hz', default_value='100.0'),
+        Node(
+            package='udp_teleop_bridge',
+            executable='udp_cmd_vel_receiver',
+            name='udp_cmd_vel_receiver',
+            output='screen',
+            parameters=[{
+                'transport': LaunchConfiguration('transport'),
+                'server_addr': LaunchConfiguration('server_addr'),
+                'relay_via': LaunchConfiguration('relay_via'),
+                'peer_id': LaunchConfiguration('peer_id'),
+                'expected_sender': LaunchConfiguration('expected_sender'),
+                'output_topic': LaunchConfiguration('output_topic'),
+                'frame_id': LaunchConfiguration('frame_id'),
+                'watchdog_timeout': ParameterValue(LaunchConfiguration('watchdog_timeout'), value_type=float),
+                'publish_rate_hz': ParameterValue(LaunchConfiguration('publish_rate_hz'), value_type=float),
+            }],
+        ),
+    ])
diff --git a/ros-control-py/udp_teleop_bridge/launch/xbox_to_udp.launch.py b/ros-control-py/udp_teleop_bridge/launch/xbox_to_udp.launch.py
new file mode 100644
index 0000000..d9038d0
--- /dev/null
+++ b/ros-control-py/udp_teleop_bridge/launch/xbox_to_udp.launch.py
@@ -0,0 +1,74 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description() -> LaunchDescription:
+    teleop_config = PathJoinSubstitution([
+        FindPackageShare('udp_teleop_bridge'),
+        'config',
+        'xbox_twist_joy.yaml',
+    ])
+
+    teleop_topic = LaunchConfiguration('teleop_topic')
+
+    return LaunchDescription([
+        DeclareLaunchArgument('transport', default_value='udp'),
+        DeclareLaunchArgument('server_addr', default_value=''),
+        DeclareLaunchArgument('relay_via', default_value=''),
+        DeclareLaunchArgument('peer_id', default_value='ros-gamepad-ctrl'),
+        DeclareLaunchArgument('target_peer', default_value='ros-bridge-ctrl'),
+        DeclareLaunchArgument('joy_dev', default_value='/dev/input/js0'),
+        DeclareLaunchArgument('deadzone', default_value='0.10'),
+        DeclareLaunchArgument('autorepeat_rate', default_value='20.0'),
+        DeclareLaunchArgument('frame_id', default_value='pelvis'),
+        DeclareLaunchArgument('teleop_topic', default_value='/teleop/cmd_vel'),
+        DeclareLaunchArgument('send_rate_hz', default_value='20.0'),
+        DeclareLaunchArgument('input_timeout', default_value='0.30'),
+        Node(
+            package='joy',
+            executable='joy_node',
+            name='joy_node',
+            output='screen',
+            parameters=[{
+                'dev': LaunchConfiguration('joy_dev'),
+                'deadzone': ParameterValue(LaunchConfiguration('deadzone'), value_type=float),
+                'autorepeat_rate': ParameterValue(LaunchConfiguration('autorepeat_rate'), value_type=float),
+            }],
+        ),
+        Node(
+            package='teleop_twist_joy',
+            executable='teleop_node',
+            name='teleop_twist_joy',
+            output='screen',
+            parameters=[
+                teleop_config,
+                {
+                    'publish_stamped_twist': True,
+                    'frame': LaunchConfiguration('frame_id'),
+                },
+            ],
+            remappings=[
+                ('cmd_vel', teleop_topic),
+            ],
+        ),
+        Node(
+            package='udp_teleop_bridge',
+            executable='cmd_vel_udp_sender',
+            name='cmd_vel_udp_sender',
+            output='screen',
+            parameters=[{
+                'transport': LaunchConfiguration('transport'),
+                'server_addr': LaunchConfiguration('server_addr'),
+                'relay_via': LaunchConfiguration('relay_via'),
+                'peer_id': LaunchConfiguration('peer_id'),
+                'target_peer': LaunchConfiguration('target_peer'),
+                'input_topic': teleop_topic,
+                'send_rate_hz': ParameterValue(LaunchConfiguration('send_rate_hz'), value_type=float),
+                'input_timeout': ParameterValue(LaunchConfiguration('input_timeout'), value_type=float),
+            }],
+        ),
+    ])
diff --git a/ros-control-py/udp_teleop_bridge/package.xml b/ros-control-py/udp_teleop_bridge/package.xml
new file mode 100644
index 0000000..28262bd
--- /dev/null
+++ b/ros-control-py/udp_teleop_bridge/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>udp_teleop_bridge</name>
+  <version>0.1.0</version>
+  <description>ROS 2 OmniSocket UDP/KCP bridge for teleop TwistStamped commands.</description>
+
+  <maintainer email="codex@example.com">Codex</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_python</buildtool_depend>
+
+  <exec_depend>ament_index_python</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>joy</exec_depend>
+  <exec_depend>launch</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>teleop_twist_joy</exec_depend>
+  <exec_depend>teleop_twist_keyboard</exec_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/ros-control-py/udp_teleop_bridge/resource/udp_teleop_bridge b/ros-control-py/udp_teleop_bridge/resource/udp_teleop_bridge
new file mode 100644
index 0000000..9cc185f
--- /dev/null
+++ b/ros-control-py/udp_teleop_bridge/resource/udp_teleop_bridge
@@ -0,0 +1 @@
+udp_teleop_bridge
diff --git a/ros-control-py/udp_teleop_bridge/setup.cfg b/ros-control-py/udp_teleop_bridge/setup.cfg
new file mode 100644
index 0000000..8f79a94
--- /dev/null
+++ b/ros-control-py/udp_teleop_bridge/setup.cfg
@@ -0,0 +1,5 @@
+[develop]
+script_dir=$base/lib/udp_teleop_bridge
+
+[install]
+install_scripts=$base/lib/udp_teleop_bridge
diff --git a/ros-control-py/udp_teleop_bridge/setup.py b/ros-control-py/udp_teleop_bridge/setup.py
new file mode 100644
index 0000000..4957d6d
--- /dev/null
+++ b/ros-control-py/udp_teleop_bridge/setup.py
@@ -0,0 +1,34 @@
+from setuptools import find_packages, setup
+
+
+package_name = 'udp_teleop_bridge'
+
+
+setup(
+    name=package_name,
+    version='0.1.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages', [f'resource/{package_name}']),
+        (f'share/{package_name}', ['package.xml']),
+        (f'share/{package_name}/launch', [
+            'launch/keyboard_sender.launch.py',
+            'launch/robot_udp_receiver.launch.py',
+            'launch/xbox_to_udp.launch.py',
+        ]),
+        (f'share/{package_name}/config', ['config/xbox_twist_joy.yaml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='Codex',
+    maintainer_email='codex@example.com',
+    description='ROS 2 OmniSocket UDP/KCP bridge for teleop TwistStamped commands.',
+    license='MIT',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'cmd_vel_udp_sender = udp_teleop_bridge.cmd_vel_udp_sender:main',
+            'udp_cmd_vel_receiver = udp_teleop_bridge.udp_cmd_vel_receiver:main',
+        ],
+    },
+)
diff --git a/ros-control-py/udp_teleop_bridge/test/test_protocol.py b/ros-control-py/udp_teleop_bridge/test/test_protocol.py
new file mode 100644
index 0000000..87cfbe1
--- /dev/null
+++ b/ros-control-py/udp_teleop_bridge/test/test_protocol.py
@@ -0,0 +1,54 @@
+from pathlib import Path
+import sys
+
+import pytest
+
+
+ROOT = Path(__file__).resolve().parents[1]
+if str(ROOT) not in sys.path:
+    sys.path.insert(0, str(ROOT))
+
+from udp_teleop_bridge.protocol import (  # noqa: E402
+    PACKET_SIZE,
+    default_server_addr_for_transport,
+    normalize_command,
+    normalize_transport,
+    pack_command,
+    unpack_command,
+)
+
+
+def test_pack_unpack_round_trip() -> None:
+    command = (0.1, -0.2, 0.3, -0.4, 0.5, -0.6)
+
+    payload = pack_command(command)
+
+    assert len(payload) == PACKET_SIZE
+    assert unpack_command(payload) == pytest.approx(command)
+
+
+@pytest.mark.parametrize('value', [float('nan'), float('inf'), float('-inf')])
+def test_normalize_command_rejects_non_finite_values(value: float) -> None:
+    with pytest.raises(ValueError, match='non-finite'):
+        normalize_command((0.0, 0.0, value, 0.0, 0.0, 0.0))
+
+
+def test_unpack_command_rejects_wrong_length() -> None:
+    with pytest.raises(ValueError, match='Expected'):
+        unpack_command(b'\x00' * (PACKET_SIZE - 1))
+
+
+@pytest.mark.parametrize(
+    ('transport', 'expected'),
+    [
+        ('udp', '127.0.0.1:9001'),
+        ('kcp', '127.0.0.1:9002'),
+    ],
+)
+def test_default_server_addr_for_transport(transport: str, expected: str) -> None:
+    assert default_server_addr_for_transport(transport) == expected
+
+
+def test_normalize_transport_rejects_unknown_value() -> None:
+    with pytest.raises(ValueError, match='Unsupported transport'):
+        normalize_transport('sctp')
diff --git a/ros-control-py/udp_teleop_bridge/udp_teleop_bridge/__init__.py b/ros-control-py/udp_teleop_bridge/udp_teleop_bridge/__init__.py
new file mode 100644
index 0000000..094feaf
--- /dev/null
+++ b/ros-control-py/udp_teleop_bridge/udp_teleop_bridge/__init__.py
@@ -0,0 +1 @@
+"""OmniSocket teleop bridge package."""
diff --git a/ros-control-py/udp_teleop_bridge/udp_teleop_bridge/cmd_vel_udp_sender.py b/ros-control-py/udp_teleop_bridge/udp_teleop_bridge/cmd_vel_udp_sender.py
new file mode 100644
index 0000000..34a5ce1
--- /dev/null
+++ b/ros-control-py/udp_teleop_bridge/udp_teleop_bridge/cmd_vel_udp_sender.py
@@ -0,0 +1,207 @@
+"""ROS 2 node that forwards TwistStamped teleop commands over OmniSocket."""
+
+from __future__ import annotations
+
+import threading
+import time
+from typing import Dict, Optional, Tuple
+
+import rclpy
+from geometry_msgs.msg import TwistStamped
+from rclpy.node import Node
+
+from .omni_transport import MSG_TYPE_ERROR, OmniTransport
+from .protocol import (
+    DEFAULT_EXIT_ZERO_PACKETS,
+    DEFAULT_INPUT_TIMEOUT,
+    DEFAULT_INPUT_TOPIC,
+    DEFAULT_KEYBOARD_PEER_ID,
+    DEFAULT_QUEUE_DEPTH,
+    DEFAULT_SEND_RATE_HZ,
+    DEFAULT_TARGET_PEER,
+    DEFAULT_TRANSPORT,
+    ZERO_COMMAND,
+    pack_command,
+)
+
+
+CommandTuple = Tuple[float, float, float, float, float, float]
+
+
+class CmdVelUdpSender(Node):
+    """Forward TwistStamped messages to a remote OmniSocket peer."""
+
+    def __init__(self) -> None:
+        super().__init__('cmd_vel_udp_sender')
+
+        self.declare_parameter('transport', DEFAULT_TRANSPORT)
+        self.declare_parameter('server_addr', '')
+        self.declare_parameter('relay_via', '')
+        self.declare_parameter('peer_id', DEFAULT_KEYBOARD_PEER_ID)
+        self.declare_parameter('target_peer', DEFAULT_TARGET_PEER)
+        self.declare_parameter('input_topic', DEFAULT_INPUT_TOPIC)
+        self.declare_parameter('send_rate_hz', DEFAULT_SEND_RATE_HZ)
+        self.declare_parameter('input_timeout', DEFAULT_INPUT_TIMEOUT)
+        self.declare_parameter('queue_depth', DEFAULT_QUEUE_DEPTH)
+        self.declare_parameter('exit_zero_packets', DEFAULT_EXIT_ZERO_PACKETS)
+
+        self._transport_name = str(self.get_parameter('transport').value)
+        self._server_addr = str(self.get_parameter('server_addr').value)
+        self._relay_via = str(self.get_parameter('relay_via').value)
+        self._peer_id = str(self.get_parameter('peer_id').value)
+        self._target_peer = str(self.get_parameter('target_peer').value).strip()
+        self._input_topic = str(self.get_parameter('input_topic').value)
+        self._send_rate_hz = float(self.get_parameter('send_rate_hz').value)
+        self._input_timeout = float(self.get_parameter('input_timeout').value)
+        self._queue_depth = int(self.get_parameter('queue_depth').value)
+        self._exit_zero_packets = int(self.get_parameter('exit_zero_packets').value)
+
+        if self._send_rate_hz <= 0.0:
+            raise ValueError('send_rate_hz must be > 0')
+        if self._input_timeout < 0.0:
+            raise ValueError('input_timeout must be >= 0')
+        if self._queue_depth <= 0:
+            raise ValueError('queue_depth must be > 0')
+        if not self._target_peer:
+            raise ValueError('target_peer must not be empty')
+
+        self._transport = OmniTransport(
+            transport=self._transport_name,
+            server_addr=self._server_addr,
+            relay_via=self._relay_via,
+            peer_id=self._peer_id,
+        )
+        self._last_log_times: Dict[str, float] = {}
+        self._latest_command: CommandTuple = ZERO_COMMAND
+        self._last_input_monotonic: Optional[float] = None
+        self._last_sent_command: Optional[CommandTuple] = None
+        self._closing = threading.Event()
+
+        self.create_subscription(
+            TwistStamped,
+            self._input_topic,
+            self._handle_twist,
+            self._queue_depth,
+        )
+        self.create_timer(1.0 / self._send_rate_hz, self._send_latest_command)
+
+        self._drain_thread = threading.Thread(target=self._drain_incoming, daemon=True)
+        self._drain_thread.start()
+
+        self.get_logger().info(
+            'Forwarding TwistStamped from %s via %s://%s as %s -> %s at %.1f Hz '
+            '(input timeout %.2f s)'
+            % (
+                self._input_topic,
+                self._transport.transport,
+                self._transport.server_addr,
+                self._peer_id,
+                self._target_peer,
+                self._send_rate_hz,
+                self._input_timeout,
+            )
+        )
+
+    def _should_log(self, key: str, throttle_sec: float) -> bool:
+        now = time.monotonic()
+        previous = self._last_log_times.get(key)
+        if previous is None or (now - previous) >= throttle_sec:
+            self._last_log_times[key] = now
+            return True
+        return False
+
+    def _handle_twist(self, msg: TwistStamped) -> None:
+        self._latest_command = (
+            float(msg.twist.linear.x),
+            float(msg.twist.linear.y),
+            float(msg.twist.linear.z),
+            float(msg.twist.angular.x),
+            float(msg.twist.angular.y),
+            float(msg.twist.angular.z),
+        )
+        self._last_input_monotonic = time.monotonic()
+
+    def _command_for_current_tick(self) -> CommandTuple:
+        if self._last_input_monotonic is None:
+            return ZERO_COMMAND
+        if self._input_timeout == 0.0:
+            return self._latest_command
+        age = time.monotonic() - self._last_input_monotonic
+        if age > self._input_timeout:
+            return ZERO_COMMAND
+        return self._latest_command
+
+    def _send_command(self, command: CommandTuple) -> None:
+        payload = pack_command(command)
+        try:
+            self._transport.send(to=self._target_peer, data=payload)
+            self._last_sent_command = command
+        except OSError as exc:
+            if self._should_log('send_error', 2.0):
+                self.get_logger().error(f'OmniSocket send failed: {exc}')
+
+    def _send_latest_command(self) -> None:
+        self._send_command(self._command_for_current_tick())
+
+    def _log_inbound_message(self, from_peer: str, msg_type: int, payload: bytes) -> None:
+        if msg_type == MSG_TYPE_ERROR:
+            if self._should_log('server_error', 1.0):
+                text = payload.decode('utf-8', errors='replace')
+                self.get_logger().error(f'OmniSocket server error from {from_peer}: {text}')
+            return
+
+        if self._should_log('unexpected_inbound', 2.0):
+            self.get_logger().warning(
+                'Ignoring unexpected inbound message type %d from %s (%d bytes)'
+                % (msg_type, from_peer, len(payload))
+            )
+
+    def _drain_incoming(self) -> None:
+        while not self._closing.is_set() and rclpy.ok():
+            try:
+                result = self._transport.recv(timeout_ms=100)
+            except OSError as exc:
+                if not self._closing.is_set() and self._should_log('drain_error', 2.0):
+                    self.get_logger().error(f'OmniSocket receive loop stopped: {exc}')
+                return
+
+            if result is None:
+                continue
+
+            from_peer, msg_type, payload = result
+            self._log_inbound_message(from_peer, msg_type, payload)
+
+    def send_zero_burst(self) -> None:
+        """Best-effort stop command sent during shutdown."""
+        for _ in range(max(1, self._exit_zero_packets)):
+            self._send_command(ZERO_COMMAND)
+            time.sleep(0.02)
+
+    def close(self) -> None:
+        self._closing.set()
+        if hasattr(self, '_transport') and self._transport is not None:
+            try:
+                self._transport.close()
+            except OSError as exc:
+                if self._should_log('close_error', 2.0):
+                    self.get_logger().warning(f'Closing OmniSocket transport failed: {exc}')
+            self._transport = None
+        if hasattr(self, '_drain_thread') and self._drain_thread.is_alive():
+            self._drain_thread.join(timeout=0.5)
+
+    def destroy_node(self) -> bool:
+        self.close()
+        return super().destroy_node()
+
+
+def main(args: Optional[list[str]] = None) -> None:
+    rclpy.init(args=args)
+    node = CmdVelUdpSender()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.send_zero_burst()
+        node.destroy_node()
+        rclpy.shutdown()
diff --git a/ros-control-py/udp_teleop_bridge/udp_teleop_bridge/omni_transport.py b/ros-control-py/udp_teleop_bridge/udp_teleop_bridge/omni_transport.py
new file mode 100644
index 0000000..6c0353c
--- /dev/null
+++ b/ros-control-py/udp_teleop_bridge/udp_teleop_bridge/omni_transport.py
@@ -0,0 +1,95 @@
+"""Helpers for working with OmniSocket transport sessions."""
+
+from __future__ import annotations
+
+from .protocol import default_server_addr_for_transport, normalize_transport
+
+
+try:
+    from omnisocket import (
+        CONTROL_DEFAULTS,
+        MSG_TYPE_BINARY,
+        MSG_TYPE_ERROR,
+        Session,
+        UdpSession,
+    )
+except ImportError as exc:  # pragma: no cover - depends on external build/install
+    raise RuntimeError(
+        'omnisocket is not installed for this Python environment; run '
+        '`make python-ext && make python-install` on a Linux host first'
+    ) from exc
+
+
+def _normalize_optional(value: object) -> str:
+    return str(value).strip()
+
+
+class OmniTransport:
+    """Small wrapper that normalizes OmniSocket UDP/KCP session setup."""
+
+    def __init__(
+        self,
+        *,
+        transport: object,
+        server_addr: object,
+        peer_id: object,
+        relay_via: object = '',
+        bind_ip: object = '',
+        bind_device: object = '',
+        enable_timestamping: bool = False,
+    ) -> None:
+        self.transport = normalize_transport(transport)
+        self.server_addr = _normalize_optional(server_addr) or default_server_addr_for_transport(self.transport)
+        self.peer_id = _normalize_optional(peer_id)
+        self.relay_via = _normalize_optional(relay_via)
+        self.bind_ip = _normalize_optional(bind_ip)
+        self.bind_device = _normalize_optional(bind_device)
+
+        if not self.peer_id:
+            raise ValueError('peer_id must not be empty')
+
+        session_cls = Session if self.transport == 'kcp' else UdpSession
+        self._session = session_cls()
+
+        connect_kwargs: dict[str, object] = {
+            'server_addr': self.server_addr,
+            'peer_id': self.peer_id,
+        }
+        if self.bind_ip:
+            connect_kwargs['bind_ip'] = self.bind_ip
+        if self.bind_device:
+            connect_kwargs['bind_device'] = self.bind_device
+
+        if self.transport == 'kcp':
+            if self.relay_via:
+                connect_kwargs['relay_via'] = self.relay_via
+            connect_kwargs.update(CONTROL_DEFAULTS)
+        else:
+            connect_kwargs['enable_timestamping'] = bool(enable_timestamping)
+
+        self._session.connect(**connect_kwargs)
+
+    def send(self, *, to: str, data: bytes) -> None:
+        self._session.send(to=to, data=data)
+
+    def recv(self, *, timeout_ms: int = -1):
+        return self._session.recv(timeout_ms=timeout_ms)
+
+    def recv_into(self, *, buffer, timeout_ms: int = -1):
+        return self._session.recv_into(buffer=buffer, timeout_ms=timeout_ms)
+
+    def close(self) -> None:
+        self._session.close()
+
+    def stats(self) -> dict[str, int]:
+        return self._session.stats()
+
+
+__all__ = [
+    'CONTROL_DEFAULTS',
+    'MSG_TYPE_BINARY',
+    'MSG_TYPE_ERROR',
+    'OmniTransport',
+    'Session',
+    'UdpSession',
+]
diff --git a/ros-control-py/udp_teleop_bridge/udp_teleop_bridge/protocol.py b/ros-control-py/udp_teleop_bridge/udp_teleop_bridge/protocol.py
new file mode 100644
index 0000000..44f4641
--- /dev/null
+++ b/ros-control-py/udp_teleop_bridge/udp_teleop_bridge/protocol.py
@@ -0,0 +1,74 @@
+"""Shared teleop protocol helpers and transport defaults."""
+
+from __future__ import annotations
+
+import math
+import struct
+from typing import Iterable, Tuple
+
+
+COMMAND_STRUCT = struct.Struct('<6f')
+PACKET_SIZE = COMMAND_STRUCT.size
+
+SUPPORTED_TRANSPORTS = ('udp', 'kcp')
+DEFAULT_TRANSPORT = 'udp'
+
+DEFAULT_OMNI_UDP_SERVER_ADDR = '127.0.0.1:9001'
+DEFAULT_OMNI_KCP_SERVER_ADDR = '127.0.0.1:9002'
+
+DEFAULT_KEYBOARD_PEER_ID = 'ros-keyboard-ctrl'
+DEFAULT_GAMEPAD_PEER_ID = 'ros-gamepad-ctrl'
+DEFAULT_BRIDGE_PEER_ID = 'ros-bridge-ctrl'
+DEFAULT_TARGET_PEER = DEFAULT_BRIDGE_PEER_ID
+
+DEFAULT_FRAME_ID = 'pelvis'
+DEFAULT_INPUT_TOPIC = '/teleop/cmd_vel'
+DEFAULT_OUTPUT_TOPIC = '/hric/robot/cmd_vel'
+DEFAULT_SEND_RATE_HZ = 20.0
+DEFAULT_INPUT_TIMEOUT = 0.75
+DEFAULT_WATCHDOG_TIMEOUT = 0.5
+DEFAULT_PUBLISH_RATE_HZ = 100.0
+DEFAULT_QUEUE_DEPTH = 10
+DEFAULT_EXIT_ZERO_PACKETS = 3
+DEFAULT_RECV_BUFFER_BYTES = 2048
+
+ZERO_COMMAND = (0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+
+
+def normalize_transport(value: object) -> str:
+    """Return a supported transport name."""
+    transport = str(value).strip().lower()
+    if transport not in SUPPORTED_TRANSPORTS:
+        supported = ', '.join(SUPPORTED_TRANSPORTS)
+        raise ValueError(f"Unsupported transport '{transport}', expected one of: {supported}")
+    return transport
+
+
+def default_server_addr_for_transport(transport: str) -> str:
+    """Return the default OmniSocket server for the chosen transport."""
+    transport = normalize_transport(transport)
+    if transport == 'udp':
+        return DEFAULT_OMNI_UDP_SERVER_ADDR
+    return DEFAULT_OMNI_KCP_SERVER_ADDR
+
+
+def normalize_command(values: Iterable[float]) -> Tuple[float, float, float, float, float, float]:
+    """Return a finite six-float command tuple."""
+    command = tuple(float(value) for value in values)
+    if len(command) != 6:
+        raise ValueError(f'Expected 6 command values, got {len(command)}')
+    if any(not math.isfinite(value) for value in command):
+        raise ValueError('Command contains a non-finite value')
+    return command
+
+
+def pack_command(values: Iterable[float]) -> bytes:
+    """Pack six floats into the wire format."""
+    return COMMAND_STRUCT.pack(*normalize_command(values))
+
+
+def unpack_command(payload: bytes) -> Tuple[float, float, float, float, float, float]:
+    """Decode a control packet into a six-float command tuple."""
+    if len(payload) != PACKET_SIZE:
+        raise ValueError(f'Expected {PACKET_SIZE} bytes, got {len(payload)}')
+    return normalize_command(COMMAND_STRUCT.unpack(payload))
diff --git a/ros-control-py/udp_teleop_bridge/udp_teleop_bridge/udp_cmd_vel_receiver.py b/ros-control-py/udp_teleop_bridge/udp_teleop_bridge/udp_cmd_vel_receiver.py
new file mode 100644
index 0000000..5ead458
--- /dev/null
+++ b/ros-control-py/udp_teleop_bridge/udp_teleop_bridge/udp_cmd_vel_receiver.py
@@ -0,0 +1,238 @@
+"""ROS 2 node that receives OmniSocket teleop packets and republishes TwistStamped."""
+
+from __future__ import annotations
+
+import threading
+import time
+from typing import Dict, Optional, Tuple
+
+import rclpy
+from geometry_msgs.msg import TwistStamped
+from rclpy.node import Node
+
+from .omni_transport import MSG_TYPE_BINARY, MSG_TYPE_ERROR, OmniTransport
+from .protocol import (
+    DEFAULT_BRIDGE_PEER_ID,
+    DEFAULT_FRAME_ID,
+    DEFAULT_OUTPUT_TOPIC,
+    DEFAULT_PUBLISH_RATE_HZ,
+    DEFAULT_QUEUE_DEPTH,
+    DEFAULT_RECV_BUFFER_BYTES,
+    DEFAULT_TRANSPORT,
+    DEFAULT_WATCHDOG_TIMEOUT,
+    PACKET_SIZE,
+    ZERO_COMMAND,
+    unpack_command,
+)
+
+
+CommandTuple = Tuple[float, float, float, float, float, float]
+
+
+class UdpCmdVelReceiver(Node):
+    """Publish TwistStamped commands from the OmniSocket control wire format."""
+
+    def __init__(self) -> None:
+        super().__init__('udp_cmd_vel_receiver')
+
+        self.declare_parameter('transport', DEFAULT_TRANSPORT)
+        self.declare_parameter('server_addr', '')
+        self.declare_parameter('relay_via', '')
+        self.declare_parameter('peer_id', DEFAULT_BRIDGE_PEER_ID)
+        self.declare_parameter('expected_sender', '')
+        self.declare_parameter('output_topic', DEFAULT_OUTPUT_TOPIC)
+        self.declare_parameter('frame_id', DEFAULT_FRAME_ID)
+        self.declare_parameter('watchdog_timeout', DEFAULT_WATCHDOG_TIMEOUT)
+        self.declare_parameter('publish_rate_hz', DEFAULT_PUBLISH_RATE_HZ)
+        self.declare_parameter('queue_depth', DEFAULT_QUEUE_DEPTH)
+
+        self._transport_name = str(self.get_parameter('transport').value)
+        self._server_addr = str(self.get_parameter('server_addr').value)
+        self._relay_via = str(self.get_parameter('relay_via').value)
+        self._peer_id = str(self.get_parameter('peer_id').value)
+        self._expected_sender = str(self.get_parameter('expected_sender').value).strip()
+        self._output_topic = str(self.get_parameter('output_topic').value)
+        self._frame_id = str(self.get_parameter('frame_id').value)
+        self._watchdog_timeout = float(self.get_parameter('watchdog_timeout').value)
+        self._publish_rate_hz = float(self.get_parameter('publish_rate_hz').value)
+        self._queue_depth = int(self.get_parameter('queue_depth').value)
+
+        if self._watchdog_timeout <= 0.0:
+            raise ValueError('watchdog_timeout must be > 0')
+        if self._publish_rate_hz <= 0.0:
+            raise ValueError('publish_rate_hz must be > 0')
+        if self._queue_depth <= 0:
+            raise ValueError('queue_depth must be > 0')
+
+        self._publisher = self.create_publisher(TwistStamped, self._output_topic, self._queue_depth)
+        self._transport = OmniTransport(
+            transport=self._transport_name,
+            server_addr=self._server_addr,
+            relay_via=self._relay_via,
+            peer_id=self._peer_id,
+        )
+
+        self._lock = threading.Lock()
+        self._last_log_times: Dict[str, float] = {}
+        self._latest_command: CommandTuple = ZERO_COMMAND
+        self._last_packet_monotonic: Optional[float] = None
+        self._last_published_command: CommandTuple = ZERO_COMMAND
+        self._closing = threading.Event()
+        self._recv_buffer = bytearray(DEFAULT_RECV_BUFFER_BYTES)
+
+        self.create_timer(1.0 / self._publish_rate_hz, self._publish_tick)
+
+        self._recv_thread = threading.Thread(target=self._recv_loop, daemon=True)
+        self._recv_thread.start()
+
+        self.get_logger().info(
+            'Receiving teleop commands via %s://%s as %s and publishing TwistStamped to %s '
+            'at %.1f Hz (frame_id=%s, watchdog %.2f s)'
+            % (
+                self._transport.transport,
+                self._transport.server_addr,
+                self._peer_id,
+                self._output_topic,
+                self._publish_rate_hz,
+                self._frame_id,
+                self._watchdog_timeout,
+            )
+        )
+
+    def _should_log(self, key: str, throttle_sec: float) -> bool:
+        now = time.monotonic()
+        previous = self._last_log_times.get(key)
+        if previous is None or (now - previous) >= throttle_sec:
+            self._last_log_times[key] = now
+            return True
+        return False
+
+    def _publish_command(self, command: CommandTuple) -> None:
+        msg = TwistStamped()
+        msg.header.stamp = self.get_clock().now().to_msg()
+        msg.header.frame_id = self._frame_id
+        msg.twist.linear.x = command[0]
+        msg.twist.linear.y = command[1]
+        msg.twist.linear.z = command[2]
+        msg.twist.angular.x = command[3]
+        msg.twist.angular.y = command[4]
+        msg.twist.angular.z = command[5]
+        self._publisher.publish(msg)
+        self._last_published_command = command
+
+    def _handle_error_message(self, from_peer: str, body_len: int) -> None:
+        if self._should_log('server_error', 1.0):
+            text = bytes(self._recv_buffer[:body_len]).decode('utf-8', errors='replace')
+            self.get_logger().error(f'OmniSocket server error from {from_peer}: {text}')
+
+    def _recv_loop(self) -> None:
+        while not self._closing.is_set() and rclpy.ok():
+            try:
+                meta = self._transport.recv_into(buffer=self._recv_buffer, timeout_ms=100)
+            except BufferError as exc:
+                if self._should_log('buffer_error', 2.0):
+                    self.get_logger().warning(f'Dropped oversized OmniSocket frame: {exc}')
+                continue
+            except OSError as exc:
+                if not self._closing.is_set() and self._should_log('recv_error', 2.0):
+                    self.get_logger().error(f'OmniSocket receive loop stopped: {exc}')
+                return
+
+            if meta is None:
+                continue
+
+            from_peer = str(meta['from'])
+            msg_type = int(meta['msg_type'])
+            body_len = int(meta['body_len'])
+
+            if msg_type == MSG_TYPE_ERROR:
+                self._handle_error_message(from_peer, body_len)
+                continue
+
+            if self._expected_sender and from_peer != self._expected_sender:
+                if self._should_log('unexpected_sender', 2.0):
+                    self.get_logger().warning(
+                        'Ignoring message from unexpected sender %s (expected %s)'
+                        % (from_peer, self._expected_sender)
+                    )
+                continue
+
+            if msg_type != MSG_TYPE_BINARY:
+                if self._should_log('unexpected_type', 2.0):
+                    self.get_logger().warning(
+                        'Ignoring unexpected message type %d from %s (%d bytes)'
+                        % (msg_type, from_peer, body_len)
+                    )
+                continue
+
+            if body_len != PACKET_SIZE:
+                if self._should_log('packet_size', 2.0):
+                    self.get_logger().warning(
+                        'Dropped binary payload from %s with invalid size %d (expected %d)'
+                        % (from_peer, body_len, PACKET_SIZE)
+                    )
+                continue
+
+            try:
+                command = unpack_command(self._recv_buffer[:PACKET_SIZE])
+            except ValueError as exc:
+                if self._should_log('decode_error', 2.0):
+                    self.get_logger().warning(f'Dropped malformed command payload: {exc}')
+                continue
+
+            with self._lock:
+                self._latest_command = command
+                self._last_packet_monotonic = time.monotonic()
+
+    def _command_for_publish_tick(self) -> tuple[CommandTuple, Optional[float], bool]:
+        with self._lock:
+            latest_command = self._latest_command
+            last_packet_monotonic = self._last_packet_monotonic
+
+        if last_packet_monotonic is None:
+            return ZERO_COMMAND, None, False
+
+        age = time.monotonic() - last_packet_monotonic
+        if age > self._watchdog_timeout:
+            return ZERO_COMMAND, age, True
+        return latest_command, age, False
+
+    def _publish_tick(self) -> None:
+        publish_command, age, timed_out = self._command_for_publish_tick()
+
+        if timed_out and self._last_published_command != ZERO_COMMAND:
+            if self._should_log('watchdog_stop', 2.0):
+                self.get_logger().warning(
+                    'Command stream timed out after %.2f s, publishing zero velocity stop'
+                    % age
+                )
+
+        self._publish_command(publish_command)
+
+    def close(self) -> None:
+        self._closing.set()
+        if hasattr(self, '_transport') and self._transport is not None:
+            try:
+                self._transport.close()
+            except OSError as exc:
+                if self._should_log('close_error', 2.0):
+                    self.get_logger().warning(f'Closing OmniSocket transport failed: {exc}')
+            self._transport = None
+        if hasattr(self, '_recv_thread') and self._recv_thread.is_alive():
+            self._recv_thread.join(timeout=0.5)
+
+    def destroy_node(self) -> bool:
+        self.close()
+        return super().destroy_node()
+
+
+def main(args: Optional[list[str]] = None) -> None:
+    rclpy.init(args=args)
+    node = UdpCmdVelReceiver()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
diff --git a/src/peer_udp_client.c b/src/peer_udp_client.c
index 4fc3bb5..9e617ab 100644
--- a/src/peer_udp_client.c
+++ b/src/peer_udp_client.c
@@ -1,6 +1,8 @@
 #include "peer_udp_client.h"
 
+#include <poll.h>
 #include <pthread.h>
+#include <string.h>
 
 struct udp_client {
     char id[OMNI_MAX_PEER_ID];
@@ -17,6 +19,19 @@ static int client_next_message_id(udp_client_t *client, uint64_t *out_id) {
     return 0;
 }
 
+static void udp_client_fill_recv_meta(udp_client_recv_meta_t *meta, const message_t *msg) {
+    if (meta == NULL || msg == NULL) {
+        return;
+    }
+    memset(meta, 0, sizeof(*meta));
+    meta->type = msg->type;
+    meta->id = msg->id;
+    meta->body_len = msg->body_len;
+    snprintf(meta->from, sizeof(meta->from), "%s", msg->from);
+    snprintf(meta->to, sizeof(meta->to), "%s", msg->to);
+    snprintf(meta->file_name, sizeof(meta->file_name), "%s", msg->file_name);
+}
+
 static int client_persist_message_to_disk(const message_t *msg, const char *inbox_dir, char *out_path, size_t out_path_len) {
     char path[512];
     if (omni_ensure_dir(inbox_dir) != 0) {
@@ -70,7 +85,7 @@ static int client_persist_message_to_disk(const message_t *msg, const char *inbo
     return 0;
 }
 
-udp_client_t *udp_client_dial(const char *server_addr, const char *peer_id, const char *bind_ip, latency_logger_t *logger, tx_timestamp_debug_logger_t *debug_logger, int enable_timestamping) {
+udp_client_t *udp_client_dial_with_options(const char *server_addr, const char *peer_id, const char *bind_ip, const char *bind_device, latency_logger_t *logger, tx_timestamp_debug_logger_t *debug_logger, int enable_timestamping) {
     udp_client_t *client;
     message_t register_msg;
     client = (udp_client_t *) calloc(1, sizeof(*client));
@@ -80,7 +95,7 @@ udp_client_t *udp_client_dial(const char *server_addr, const char *peer_id, cons
     snprintf(client->id, sizeof(client->id), "%s", peer_id);
     pthread_mutex_init(&client->id_mu, NULL);
     client->logger = logger;
-    client->conn = udp_conn_dial(server_addr, bind_ip, NULL, enable_timestamping, logger, OMNI_NODE_ROLE_PEER, peer_id, debug_logger);
+    client->conn = udp_conn_dial(server_addr, bind_ip, bind_device, enable_timestamping, logger, OMNI_NODE_ROLE_PEER, peer_id, debug_logger);
     if (client->conn == NULL) {
         udp_client_free(client);
         return NULL;
@@ -97,6 +112,10 @@ udp_client_t *udp_client_dial(const char *server_addr, const char *peer_id, cons
     return client;
 }
 
+udp_client_t *udp_client_dial(const char *server_addr, const char *peer_id, const char *bind_ip, latency_logger_t *logger, tx_timestamp_debug_logger_t *debug_logger, int enable_timestamping) {
+    return udp_client_dial_with_options(server_addr, peer_id, bind_ip, NULL, logger, debug_logger, enable_timestamping);
+}
+
 const char *udp_client_id(const udp_client_t *client) {
     return client == NULL ? "" : client->id;
 }
@@ -124,6 +143,38 @@ int udp_client_send_text(udp_client_t *client, const char *to, const char *text)
     return 0;
 }
 
+int udp_client_send_binary(udp_client_t *client, const char *to, const void *data, size_t data_len) {
+    message_t msg;
+    uint64_t id;
+
+    if (client == NULL || to == NULL || (data == NULL && data_len > 0)) {
+        errno = EINVAL;
+        return -1;
+    }
+
+    protocol_message_init(&msg);
+    client_next_message_id(client, &id);
+    msg.type = MSG_TYPE_BINARY;
+    msg.id = id;
+    snprintf(msg.from, sizeof(msg.from), "%s", client->id);
+    snprintf(msg.to, sizeof(msg.to), "%s", to);
+    if (data_len > 0) {
+        msg.body = (uint8_t *) malloc(data_len);
+        if (msg.body == NULL) {
+            return -1;
+        }
+        memcpy(msg.body, data, data_len);
+    }
+    msg.body_len = data_len;
+    latencylog_log_message_event(client->logger, OMNI_NODE_ROLE_PEER, client->id, EVENT_A_APP_PREP_BEGIN, &msg);
+    if (udp_conn_send(client->conn, &msg) != 0) {
+        protocol_message_clear(&msg);
+        return -1;
+    }
+    protocol_message_clear(&msg);
+    return 0;
+}
+
 int udp_client_send_file_path(udp_client_t *client, const char *to, const char *path) {
     message_t msg;
     uint64_t id;
@@ -151,7 +202,34 @@ int udp_client_send_file_path(udp_client_t *client, const char *to, const char *
     return 0;
 }
 
-int udp_client_receive(udp_client_t *client, message_t *out_msg) {
+int udp_client_receive_timed(udp_client_t *client, message_t *out_msg, int timeout_ms) {
+    if (client == NULL || out_msg == NULL) {
+        errno = EINVAL;
+        return -1;
+    }
+
+    if (timeout_ms >= 0) {
+        struct pollfd pfd;
+        int rc;
+
+        memset(&pfd, 0, sizeof(pfd));
+        pfd.fd = udp_conn_fd(client->conn);
+        pfd.events = POLLIN | POLLERR | POLLHUP;
+        do {
+            rc = poll(&pfd, 1, timeout_ms);
+        } while (rc < 0 && errno == EINTR);
+        if (rc == 0) {
+            return 1;
+        }
+        if (rc < 0) {
+            return -1;
+        }
+        if ((pfd.revents & (POLLERR | POLLHUP | POLLNVAL)) != 0 && (pfd.revents & POLLIN) == 0) {
+            errno = ECONNRESET;
+            return -1;
+        }
+    }
+
     if (udp_conn_receive(client->conn, out_msg, NULL, NULL) != 0) {
         return -1;
     }
@@ -159,6 +237,39 @@ int udp_client_receive(udp_client_t *client, message_t *out_msg) {
     return 0;
 }
 
+int udp_client_receive(udp_client_t *client, message_t *out_msg) {
+    return udp_client_receive_timed(client, out_msg, -1);
+}
+
+int udp_client_receive_into(udp_client_t *client, void *buffer, size_t buffer_len, udp_client_recv_meta_t *out_meta, int timeout_ms) {
+    message_t msg;
+    int rc;
+
+    if (client == NULL || (buffer == NULL && buffer_len > 0) || out_meta == NULL) {
+        errno = EINVAL;
+        return -1;
+    }
+
+    protocol_message_init(&msg);
+    rc = udp_client_receive_timed(client, &msg, timeout_ms);
+    if (rc != 0) {
+        return rc;
+    }
+
+    udp_client_fill_recv_meta(out_meta, &msg);
+    if (msg.body_len > buffer_len) {
+        protocol_message_clear(&msg);
+        errno = EMSGSIZE;
+        return 2;
+    }
+
+    if (msg.body_len > 0) {
+        memcpy(buffer, msg.body, msg.body_len);
+    }
+    protocol_message_clear(&msg);
+    return 0;
+}
+
 int udp_client_persist_message(udp_client_t *client, const message_t *msg, const char *inbox_dir, char *out_path, size_t out_path_len) {
     if (!latencylog_is_business_message(msg)) {
         errno = EINVAL;
diff --git a/src/transport_kcp.c b/src/transport_kcp.c
index 30778ac..5c473fb 100644
--- a/src/transport_kcp.c
+++ b/src/transport_kcp.c
@@ -1799,6 +1799,8 @@ int kcp_conn_close(kcp_conn_t *conn) {
         pthread_mutex_lock(&conn->kcp_mu);
         atomic_store(&conn->closed, 1);
         if (conn->owns_socket && !conn->socket_closed) {
+            /* Wake the blocking recv thread before closing the shared UDP socket. */
+            (void) shutdown(conn->fd, SHUT_RDWR);
             close(conn->fd);
             conn->socket_closed = 1;
         }
diff --git a/src/transport_udp.c b/src/transport_udp.c
index c296082..49a0e18 100644
--- a/src/transport_udp.c
+++ b/src/transport_udp.c
@@ -3,6 +3,7 @@
 #include <arpa/inet.h>
 #include <netdb.h>
 #include <pthread.h>
+#include <sys/socket.h>
 #include <unistd.h>
 
 typedef struct udp_pending_tx {
@@ -413,6 +414,13 @@ int udp_conn_receive(udp_conn_t *conn, message_t *out_msg, struct sockaddr_stora
     }
     n = recvmsg(conn->fd, &msg, 0);
     if (n < 0) {
+        if (conn->closed) {
+            errno = ECANCELED;
+        }
+        return -1;
+    }
+    if (n == 0 && conn->closed) {
+        errno = ECANCELED;
         return -1;
     }
     if (conn->timestamping_enabled) {
@@ -454,6 +462,8 @@ int udp_conn_close(udp_conn_t *conn) {
     }
     if (!conn->closed) {
         conn->closed = 1;
+        /* Wake blocking recvmsg()/poll users before tearing down the socket. */
+        (void) shutdown(conn->fd, SHUT_RDWR);
         close(conn->fd);
         if (conn->errqueue_thread_started) {
             pthread_join(conn->errqueue_thread, NULL);