77 lines
1.7 KiB
Markdown
77 lines
1.7 KiB
Markdown
# ros-control-c
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`ros-control-c` keeps the original 24-byte `twist_cmd_t` control payload and now supports two runtime transports:
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- `udp` (default): unchanged from the original implementation
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- `kcp`: sent through OmniSocket using `MSG_TYPE_BINARY`
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Note:
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- This README documents the `ros-control-c` path only.
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- `ros-control-py` now uses OmniSocket for both `transport:=udp` and `transport:=kcp`; its `udp` mode is no longer raw socket UDP.
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## Build
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On Linux:
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```bash
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make -C ros-control-c
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```
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If the robot-side Python bridge will use KCP, build and install the OmniSocket Python extension from the repo root first:
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```bash
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make python-ext
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make python-install
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```
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## UDP Mode
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Sender:
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```bash
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./ros-control-c/build/keyboard_controller -i 192.168.1.100 -p 9870
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./ros-control-c/build/gamepad_controller -i 192.168.1.100 -p 9870
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```
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Robot bridge:
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```bash
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python3 ros-control-c/robot/udp_ros_bridge.py
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```
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## KCP Mode
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Start the existing OmniSocket KCP hub from the repo root:
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```bash
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./bin/kcpserver -listen :9002 -telemetry-peer peer-a-telemetry
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```
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Sender:
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```bash
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./ros-control-c/build/keyboard_controller -t kcp -s 192.168.1.50:9002 -I ros-keyboard-ctrl -T ros-bridge-ctrl
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./ros-control-c/build/gamepad_controller -t kcp -s 192.168.1.50:9002 -I ros-gamepad-ctrl -T ros-bridge-ctrl
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```
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If a relay is needed, add `-r <relay_addr>` to the controller command.
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Robot bridge:
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```bash
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python3 ros-control-c/robot/udp_ros_bridge.py --ros-args \
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-p transport:=kcp \
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-p kcp_server:=192.168.1.50:9002 \
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-p peer_id:=ros-bridge-ctrl
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```
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Optional sender filtering:
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```bash
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python3 ros-control-c/robot/udp_ros_bridge.py --ros-args \
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-p transport:=kcp \
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-p peer_id:=ros-bridge-ctrl \
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-p expected_sender:=ros-keyboard-ctrl
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```
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