# Robot ROS 2 release

This release is `OmniSocketGo_robot_ros`. It retains the C/KCP transport and
adds `ros2/omnisocket_camera_bridge`, which subscribes to the Orbbec RGB topics
and publishes latest-frame shared-memory slots for `b_side_omnid`.

Default acquisition is ROS 2, so `b_side_omnid` does not open `/dev/video*`.
The bridge can keep RGB/depth/CameraInfo/metadata consumers in the ROS 2 graph
while the encoded RGB stream is sent over the existing KCP protocol. The
optional V4L2 mode is only a fallback; select it explicitly with the documented
environment variable and never run it alongside a second camera opener.

On the robot:

```bash
cd OmniSocketGo_robot_ros
make
```

Then follow:

- `OmniSocketGo_robot_ros/docs/ROS2_CAMERA_FORWARDING.md`
- `OmniSocketGo_robot_ros/docs/ROS_CAMERA_INTERFACES.md`
- `OmniSocketGo_robot_ros/ros2/README.md`

The ROS 2 build must be performed on the robot (or another compatible Linux
ARM64 environment) with the robot's ROS 2 Jazzy workspace sourced.