OmniSocketGo/ros-control-py/ROS2 Teleop over UDP.md

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

make python-ext
make python-install

colcon build --packages-select udp_teleop_bridge
source install/setup.bash

启动 Hub

OmniSocket UDP:

./bin/udpserver -listen :9001

OmniSocket KCP:

./bin/kcpserver -listen :9002

机器人端 Receiver

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:

transport:=kcp server_addr:=127.0.0.1:9002

如果控制命令来自本机 b_side_omnid，可以改为:

transport:=unix_dgram local_socket_path:=/tmp/omnisocket-b-side-cmd.sock

只接受指定 sender:

expected_sender:=ros-keyboard-ctrl

键盘 Sender

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

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

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

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