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2026-03-31 14:25:19 +08:00
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Deploy_Tienkung/udp_loopback/README_omnisocket.md
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服务器：
ssh bj-txy
cd OmniSoketGo
./bin/kcpserver -listen 0.0.0.0:10909
ssh gz-txy
cd OmniSoketGo
./bin/kcpserver -mode=relay -listen 0.0.0.0:10909 -relay-remote 172.21.32.15:10909
MuJoCo端：
终端1：
source /opt/ros/humble/setup.zsh
export ROS_DOMAIN_ID=10
cd tienkung-szu/xSIM_MUJOCO
python scripts/simulator_view_asyn.py -m evt2
终端2：
source /opt/ros/humble/setup.zsh
export ROS_DOMAIN_ID=10
cd tienkung-szu/Deploy_Tienkung
python3 rl_control_node_sim.py
控制端：
键盘控制：
cd tienkung-szu/Deploy_Tienkung
python3 udp_loopback/omnisoket_keyboard_sender.py
xbox:
终端1：
source /opt/ros/humble/setup.bash
ros2 run joy joy_node --ros-args -r joy:=/xbox_data
终端2：
cd tienkung-szu/Deploy_Tienkung
python3 udp_loopback/omnisoket_xbox_sender.py
# OmniSocket Integration
This repo now supports an OmniSocket-based control path alongside the original UDP loopback.