154 lines
2.8 KiB
Markdown
154 lines
2.8 KiB
Markdown
## ROS2 Teleop over OmniSocket UDP/KCP
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这个文档对应 `ros-control-py/udp_teleop_bridge` 的当前实现。
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核心变化:
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- `transport:=udp` 现在表示 OmniSocket UDP
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- `transport:=kcp` 表示 OmniSocket KCP
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- 不再使用原来的裸 `socket` UDP 实现
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控制接口保持不变:
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- topic: `/hric/robot/cmd_vel`
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- type: `geometry_msgs/msg/TwistStamped`
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- frame_id: `pelvis`
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- payload: fixed 24-byte little-endian `<6f>`
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负载顺序:
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`lx, ly, lz, ax, ay, az`
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### 构建顺序
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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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```bash
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colcon build --packages-select udp_teleop_bridge
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source install/setup.bash
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```
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### 启动 Hub
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OmniSocket UDP:
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```bash
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./bin/udpserver -listen :9001
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```
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OmniSocket KCP:
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```bash
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./bin/kcpserver -listen :9002
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```
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### 机器人端 Receiver
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```bash
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ros2 launch udp_teleop_bridge robot_udp_receiver.launch.py \
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transport:=udp \
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server_addr:=127.0.0.1:9001 \
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peer_id:=ros-bridge-ctrl \
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output_topic:=/hric/robot/cmd_vel \
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frame_id:=pelvis \
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watchdog_timeout:=0.5
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```
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KCP 只需把 `transport` 和 `server_addr` 改成:
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```bash
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transport:=kcp server_addr:=127.0.0.1:9002
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```
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如果控制命令来自本机 `b_side_omnid`，可以改为:
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```bash
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transport:=unix_dgram local_socket_path:=/tmp/omnisocket-b-side-cmd.sock
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```
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只接受指定 sender:
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```bash
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expected_sender:=ros-keyboard-ctrl
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```
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### 键盘 Sender
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```bash
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ros2 launch udp_teleop_bridge keyboard_sender.launch.py \
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transport:=udp \
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server_addr:=127.0.0.1:9001 \
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peer_id:=ros-keyboard-ctrl \
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target_peer:=ros-bridge-ctrl
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```
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```bash
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ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args \
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--remap cmd_vel:=/teleop/cmd_vel \
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-p stamped:=true \
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-p frame_id:=pelvis \
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-p speed:=0.20 \
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-p turn:=0.60
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```
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### Xbox Sender
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```bash
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ros2 launch udp_teleop_bridge xbox_to_udp.launch.py \
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transport:=udp \
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server_addr:=127.0.0.1:9001 \
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peer_id:=ros-gamepad-ctrl \
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target_peer:=ros-bridge-ctrl \
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joy_dev:=/dev/input/js0 \
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frame_id:=pelvis
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```
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### 参数语义
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- sender:
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- `transport`
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- `server_addr`
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- `relay_via`
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- `peer_id`
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- `target_peer`
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- `input_topic`
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- `send_rate_hz`
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- `input_timeout`
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- receiver:
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- `transport`
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- `server_addr`
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- `relay_via`
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- `peer_id`
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- `expected_sender`
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- `output_topic`
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- `frame_id`
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- `watchdog_timeout`
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- `publish_rate_hz`
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`server_addr` 省略时，会按 transport 自动选择:
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- `udp` -> `127.0.0.1:9001`
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- `kcp` -> `127.0.0.1:9002`
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### 数据流
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```text
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teleop_twist_keyboard / teleop_twist_joy
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-> /teleop/cmd_vel (TwistStamped)
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-> cmd_vel_udp_sender
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-> OmniSocket UDP/KCP binary message
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-> udp_cmd_vel_receiver
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-> /hric/robot/cmd_vel
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```
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### 安全与约束
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- sender 默认 20 Hz 重发
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- sender 输入超时后改发零速
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- receiver watchdog 超时后发零速 stop
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- receiver 只接受 24 字节 binary 负载
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- `relay_via` 只在 KCP 模式有效
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