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

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:

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:

ping -c 3 192.168.41.144

Then build and check the package:

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:

sudo systemctl stop blitz-watchdog.service blitz-b-side-omnid.service

Start the LAN sender:

./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:

[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:

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:

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。

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