# 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
```