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StvLi/dsh-ros2--packages-dsh-ros2-state ↗★ 22

dsh-ros2-state

dsh-ros2 control-plane state client — long-lived UDS connection to the dsh-ros2-sidecar data plane, so the Agent reads reduced, fresh robot state in milliseconds (logic-direct / physically-separated). Provides state_get / state_snapshot tools + a StateClient. Cordis bundle. 适合需要毫秒级读取最新机器人状态的ROS2控制面开发任务。

Agent collaboration
Package
dsh-ros2-state
Compatibility
Unverified
Harness peer range
0.1.0-rc.6
Cordis peer range
^4.0.1
Version
0.1.0
License
MIT
Last updated
Oct 1, 2026

Install

$npx -p @deepseek-ai/dsh dsh plugin --profile web add github:StvLi/dsh-ros2#1c9ea44df6ee8602a3f075d81ab28e66a1740991&path:packages/dsh-ros2-state

README

Read the full README ↗

dsh-ros2-state

Control-plane state client for the dsh-ros2-sidecar data plane (逻辑直连 · 物理分离): a long-lived Unix Domain Socket connection (newline-JSON), letting the Agent read reduced, fresh robot state in milliseconds — no ROS2 subprocess per read, because the sidecar continuously reduces high-frequency topics into a semantic cache.

  • src/state-client.ts — StateClient (get / snapshot / subscribe / close), UdsStateClient impl (request_id concurrency, heartbeat, STALE/DOWN/TIMEOUT)
  • src/tools.ts — state_get / state_snapshot (read-only), via the deps.state seam
  • src/config.ts — state { socketPath, timeoutMs, tcp }

The sidecar (data plane) is dsh-ros2-sidecar; this package is the control plane that connects to it. See docs/sidecar-design.md.

Config (state.socketPath): path to the sidecar UDS socket. fail-closed: safety-relevant reads surface STALE/DOWN as structured errors — treat them as unsafe.