111 lines
3.4 KiB
Markdown
111 lines
3.4 KiB
Markdown
服务器：
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ssh bj-txy
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cd OmniSocketGo
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./bin/kcpserver -listen 0.0.0.0:10909
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ssh gz-txy
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cd OmniSocketGo
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./bin/kcpserver -mode=relay -listen 0.0.0.0:10909 -relay-remote 172.21.32.15:10909
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MuJoCo端：
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终端1：
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source /opt/ros/humble/setup.zsh
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export ROS_DOMAIN_ID=10
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cd tienkung-szu/xSIM_MUJOCO
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python scripts/simulator_view_asyn.py -m evt2
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终端2：
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source /opt/ros/humble/setup.zsh
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export ROS_DOMAIN_ID=10
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cd tienkung-szu/Deploy_Tienkung
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python3 rl_control_node_sim.py
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控制端：
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键盘控制：
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cd tienkung-szu/Deploy_Tienkung
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python3 udp_loopback/omnisocket_keyboard_sender.py
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xbox:
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终端1：
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source /opt/ros/humble/setup.bash
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ros2 run joy joy_node --ros-args -r joy:=/xbox_data
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终端2：
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cd tienkung-szu/Deploy_Tienkung
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python3 udp_loopback/omnisocket_xbox_sender.py
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# OmniSocket Integration
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This repo now supports an OmniSocket-based control path alongside the original UDP loopback.
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## Files
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- `omnisocket_control.py`: binary control packet codec shared by sender/receiver.
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- `omnisocket_keyboard_sender.py`: keyboard -> OmniSocket sender.
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- `omnisocket_xbox_sender.py`: ROS2 `/xbox_data` -> OmniSocket sender.
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- `omnisocket_fsm_controller.py`: OmniSocket receiver that converts packets into `ControlFlag`.
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- `config/omnisocket_demo.yaml`: OmniSocket transport config template.
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## Main-node integration
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Set `control_tool: omnisocket_loopback` in `config/dex_config.yaml`, then run `rl_control_node.py` or `rl_control_node_sim.py`.
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The main node will instantiate `OmniSocketFSMController`, which receives binary control packets and maps them into the same FSM commands used by the UDP loopback path.
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## Sender usage
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Keyboard sender:
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```bash
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cd Deploy_Tienkung
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python3 udp_loopback/omnisocket_keyboard_sender.py
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```
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Xbox sender:
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```bash
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cd Deploy_Tienkung
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source /opt/ros/jazzy/setup.bash
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ros2 run joy joy_node --ros-args -r joy:=/xbox_data
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python3 udp_loopback/omnisocket_xbox_sender.py
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```
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## Notes
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- Install the `omnisocket` Python package before using this path.
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- `omnisocket_xbox_sender.py` still reuses `config/dex_config.yaml` for Xbox axis/button overrides so it stays aligned with the existing repo configuration.
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- The original UDP files remain unchanged, so you can switch back by restoring `control_tool: udp_loopback`.
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- OmniSocket keyboard/Xbox mappings are aligned with the cleaned walk-only FSM flow: `ZERO`, `STOP`, and `WALKAMP`.
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- Keyboard sender supports `4/5/6` for clearing `x/y/yaw` speed independently, and `r` still clears all three axes.
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## B-side OmniDaemon
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The B-side stack now supports a local daemon that owns OmniSocket control receive and manages the video sender worker.
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Start the daemon:
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```bash
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cd OmniSocketGo
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make b_side_video_sender
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python3 -m pip install -e ./python
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python3 -m omnisocket_b_side.daemon --config config/b_side_omnidaemon.yaml
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```
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Or with the helper script:
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```bash
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cd OmniSocketGo
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./scripts/start_b_side.sh
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```
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With `OMNI_TRANSPORT_BACKEND=daemon` (the default), `OmniSocketFSMController` connects to `/tmp/omnisocket-b-ctrl.sock` and receives raw `ControlPacket` bytes from the daemon instead of creating its own OmniSocket session.
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Fallback to the previous direct mode when needed:
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```bash
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export OMNI_TRANSPORT_BACKEND=direct
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python3 rl_control_node_sim.py
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```
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In simulation / MuJoCo mode, keep `video_sender.enabled: false` in `OmniSocketGo/config/b_side_omnidaemon.yaml` so the daemon only provides the control path and does not require `/dev/video0`.
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