dsh-ros2-sidecar

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).