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

dsh-ros2-sidecar

dsh-ros2 data-plane sidecar framework (逻辑直连·物理分离). An independent process that subscribes high-frequency ROS2 topics, reduces them to semantic cache entries (value for logic / text for the LLM), and serves the control plane over a Unix Domain Socket. The concrete reducers (obstacle boolean, cup pose TF) are by-design NOT implemented — this ships the template framework only. Not a cordis bundle. 适合需要将高频ROS2话题降频并缓存为语义数据供LLM读取的场景。

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Package
dsh-ros2-sidecar
Compatibility
Unverified
Version
0.1.0
License
MIT
Last updated
Oct 1, 2026

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README

Read the full README ↗

dsh-ros2-sidecar

Data-plane sidecar framework（逻辑直连 · 物理分离）— an independent process that subscribes high-frequency ROS2 topics, reduces them to semantic cache entries (value for logic, text for the LLM), and serves the control plane over a Unix Domain Socket (newline-JSON). Not a cordis bundle.

Concrete reducers (e.g. obstacle boolean, cup TF pose) are by design not implemented — this ships the template framework only:

  • sidecar/core.py — CacheEntry / Reducer base / Cache (pure logic, no rclpy)
  • sidecar/server.py — UDS newline-JSON server (get / snapshot / subscribe + heartbeat)
  • sidecar/reducers_placeholder.py — a placeholder reducer (the template to copy)
  • sidecar/selftest.py — --selftest (10 scenarios, no rclpy)

Run the self test:

cd packages/sidecar && python3 -m sidecar.selftest

See docs/sidecar-design.md for the full design (control-plane client lives in dsh-ros2-state).