28 lines
1004 B
Markdown
28 lines
1004 B
Markdown
# Robot ROS 2 release
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This release is `OmniSocketGo_robot_ros`. It retains the C/KCP transport and
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adds `ros2/omnisocket_camera_bridge`, which subscribes to the Orbbec RGB topics
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and publishes latest-frame shared-memory slots for `b_side_omnid`.
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Default acquisition is ROS 2, so `b_side_omnid` does not open `/dev/video*`.
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The bridge can keep RGB/depth/CameraInfo/metadata consumers in the ROS 2 graph
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while the encoded RGB stream is sent over the existing KCP protocol. The
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optional V4L2 mode is only a fallback; select it explicitly with the documented
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environment variable and never run it alongside a second camera opener.
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On the robot:
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```bash
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cd OmniSocketGo_robot_ros
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make
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```
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Then follow:
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- `OmniSocketGo_robot_ros/docs/ROS2_CAMERA_FORWARDING.md`
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- `OmniSocketGo_robot_ros/docs/ROS_CAMERA_INTERFACES.md`
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- `OmniSocketGo_robot_ros/ros2/README.md`
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The ROS 2 build must be performed on the robot (or another compatible Linux
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ARM64 environment) with the robot's ROS 2 Jazzy workspace sourced.
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