# 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`。