OmniSocketGo_streaming/robot/ros2/README.md

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:

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.