Organize host and robot streaming releases

robot/ros2/OmniSocketGo_robot_ros/ROBOT_LAN_README.md

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+# OmniSocketGo Robot LAN Package
+
+This package is preconfigured for a robot connected directly by Ethernet to
+the operator computer at `192.168.41.144`.
+
+## Network topology
+
+```text
+robot Ethernet (for example 192.168.41.145/24)
+    -> UDP 192.168.41.144:10909
+    -> local KCP hub on the operator computer
+```
+
+All relay settings are empty. Video uses
+`peer-b-video -> peer-a-video`; control uses `peer-a-ctrl -> peer-b-ctrl`.
+
+In the legacy V4L2 mode both cameras are opened and kept streaming:
+
+- head: `/dev/video26`
+- waist: `/dev/video18`
+
+Only the camera selected by `OMNI_CAMERA_ACTIVE` is encoded and transmitted.
+The default is `head`. The ROS2-native default does not open these devices;
+it subscribes to the corresponding Orbbec RGB topics instead.
+
+## Robot preparation
+
+On Ubuntu, install the build/runtime dependencies if they are not already
+available:
+
+```bash
+sudo apt-get install build-essential pkg-config \
+  libavformat-dev libavcodec-dev libavutil-dev libswscale-dev \
+  v4l-utils psmisc python3-colcon-common-extensions \
+  ros-jazzy-rclpy ros-jazzy-sensor-msgs
+```
+
+Configure the robot Ethernet interface in the same subnet as the computer,
+for example `192.168.41.145/24`, and verify:
+
+```bash
+ping -c 3 192.168.41.144
+```
+
+Then build and check the package:
+
+```bash
+make b_side_omnid
+./check-robot-lan.sh
+```
+
+## Start
+
+If the robot boot watchdog is already managing an older daemon, stop it first
+so it cannot reopen the cameras:
+
+```bash
+sudo systemctl stop blitz-watchdog.service blitz-b-side-omnid.service
+```
+
+Start the LAN sender:
+
+```bash
+./start-robot-lan.sh
+```
+
+The camera preflight may stop only the known `orbbec_head.service` and
+`orbbec_waist.service` units to release the two devices. It refuses to stop the
+whole `proc_manager.service`.
+
+Successful dual-camera initialization prints:
+
+```text
+[video_pipeline] camera head ready on /dev/video26
+[video_pipeline] camera waist ready on /dev/video18
+```
+
+The periodic daemon line should then report `video registered=1`, with
+`frames` increasing. For a development start, inspect:
+
+```bash
+python3 -m json.tool logs/runtime/b-side-omnid.status.json
+```
+
+Expected fields include `video_connected: true`, an increasing
+`video_frames_sent`, an empty `video_last_error`, and
+`video_active_camera: head`.
+
+## Select the waist camera at startup
+
+Edit `scripts/dev/robot-remote.env.local` and set:
+
+```bash
+OMNI_CAMERA_ACTIVE="waist"
+```
+
+Then restart `start-robot-lan.sh`. Runtime text commands `camera:head` and
+`camera:waist` sent from `peer-a-ctrl` also switch the active input without
+reopening either camera.
+
+## Important
+
+For this direct-LAN validation, use `start-robot-lan.sh`. Do not install the
+existing 5G-oriented `blitz-robot.target` boot chain until its modem policy has
+been adapted for the target robot.
+# ROS 2 相机输入
+
+本 ROS-native 版本默认使用 `OMNI_CAMERA_SOURCE=ros2`。头部/腰部 RGB 由
+`omnisocket_camera_bridge` 订阅 ROS 2 图像 topic 后写入共享内存，视频 C
+管线不再直接打开 `/dev/video*`。启动与服务占用策略见
+`docs/ROS2_CAMERA_FORWARDING.md`，RGB+深度接口见
+`docs/ROS_CAMERA_INTERFACES.md`。