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。

패키지

dsh-ros2-state

호환성

미검증

Harness peer 범위

0.1.0-rc.6

Cordis peer 범위

^4.0.1

버전

0.1.0

라이선스

MIT

최근 업데이트

2026. 10. 1.

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.

dsh-ros2-state

설치

문서

dsh-ros2-state