diff --git a/CHANGELOG.md b/CHANGELOG.md index 8abc4f8..694319b 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,6 +1,18 @@ # 🔖 Release Note -## 🏷️ v1.4 +## 🏷️ v1.5 (2025.12.29) + +- support simulation mode + +- add CycloneDDS interface name parameter + +- upgrade teleimager version + +- [Migrate IPC to @ virtual address](https://github.com/unitreerobotics/xr_teleoperate/commit/46603c5ff385da7a9de59fb4a4a5dca1de4d9133) + +- [add caching to speed-up urdf loading](https://github.com/unitreerobotics/xr_teleoperate/commit/6cab654620735bfa347c1cd32a0d8c0c1e6ec343) + +## 🏷️ v1.4 (2025.11.21) - The **image server** has been changed to [teleimager](https://github.com/silencht/teleimager). Please refer to the repository README for details. @@ -14,7 +26,7 @@ - Added **CPU affinity mode**. If you are not familiar with this mode, you can ignore it. - Added **motion-switcher** functionality, allowing automatic debug mode entry and exit without using a remote controller. -## 🏷️ v1.3 +## 🏷️ v1.3 ( 2025.10.14) - add [![Unitree LOGO](https://camo.githubusercontent.com/ff307b29fe96a9b115434a450bb921c2a17d4aa108460008a88c58a67d68df4e/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f4769744875622d57696b692d3138313731373f6c6f676f3d676974687562)](https://github.com/unitreerobotics/xr_teleoperate/wiki) [![Unitree LOGO](https://camo.githubusercontent.com/6f5253a8776090a1f89fa7815e7543488a9ec200d153827b4bc7c3cb5e1c1555/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f2d446973636f72642d3538363546323f7374796c653d666c6174266c6f676f3d446973636f7264266c6f676f436f6c6f723d7768697465)](https://discord.gg/ZwcVwxv5rq) @@ -34,17 +46,17 @@ - Fixed logic of the start button. - Fixed various bugs in simulation mode. -## 🏷️ v1.2 +## 🏷️ v1.2 (2025.7.22) 1. Upgrade the Dex1_1 gripper control code to be compatible with the [dex1_1 service](https://github.com/unitreerobotics/dex1_1_service) driver. -## 🏷️ v1.1 +## 🏷️ v1.1 (2025.7.18) 1. Added support for a new end-effector type: **`brainco`**, which refers to the [Brain Hand](https://www.brainco-hz.com/docs/revolimb-hand/) developed by [BrainCo](https://www.brainco.cn/#/product/dexterous). 2. Changed the **DDS domain ID** to `1` in **simulation mode** to prevent conflicts during physical deployment. 3. Fixed an issue where the default frequency was set too high. -## 🏷️ v1.0 (newvuer) +## 🏷️ v1.0 (newvuer) (2025.7.8) 1. Upgraded the [Vuer](https://github.com/vuer-ai/vuer) library to version **v0.0.60**, expanding XR device support to two modes: **hand tracking** and **controller tracking**. The project has been renamed from **`avp_teleoperate`** to **`xr_teleoperate`** to better reflect its broader capabilities. @@ -59,7 +71,7 @@ 5. Various other improvements and optimizations. -## 🏷️ v0.5 (oldvuer) +## 🏷️ v0.5 (oldvuer) (2025.4.30) 1. The repository was named **`avp_teleoperate`** in this version. 2. Supported robot included: `G1_29`, `G1_23`, `H1_2`, and `H1`. diff --git a/CHANGELOG_zh-CN.md b/CHANGELOG_zh-CN.md index 2a1a17c..c65e4bb 100644 --- a/CHANGELOG_zh-CN.md +++ b/CHANGELOG_zh-CN.md @@ -1,6 +1,14 @@ # 🔖 版本说明 -## 🏷️ v1.4 +## 🏷️ v1.5 (2025.12.29) + +- 支持**仿真模式** +- 添加 cyclonedds 网卡名称参数 +- 升级 teleimager 版本 +- [将 IPC 迁移至 @ 虚拟地址](https://github.com/unitreerobotics/xr_teleoperate/commit/46603c5ff385da7a9de59fb4a4a5dca1de4d9133) +- [引入缓存机制以加速 URDF 加载](https://github.com/unitreerobotics/xr_teleoperate/commit/6cab654620735bfa347c1cd32a0d8c0c1e6ec343) + +## 🏷️ v1.4 (2025.11.21) - **图像服务器**变更为 [teleimager](https://github.com/silencht/teleimager)，具体请查看仓库README。 @@ -20,7 +28,7 @@ - 支持 **inspire_FTP** 灵巧手 -## 🏷️ v1.3 +## 🏷️ v1.3 ( 2025.10.14) - 添加 [![Unitree LOGO](https://camo.githubusercontent.com/ff307b29fe96a9b115434a450bb921c2a17d4aa108460008a88c58a67d68df4e/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f4769744875622d57696b692d3138313731373f6c6f676f3d676974687562)](https://github.com/unitreerobotics/xr_teleoperate/wiki) [![Unitree LOGO](https://camo.githubusercontent.com/6f5253a8776090a1f89fa7815e7543488a9ec200d153827b4bc7c3cb5e1c1555/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f2d446973636f72642d3538363546323f7374796c653d666c6174266c6f676f3d446973636f7264266c6f676f436f6c6f723d7768697465)](https://discord.gg/ZwcVwxv5rq) @@ -40,17 +48,17 @@ - 修复了启动按钮逻辑错误。 - 修复了仿真模式中的若干 bug。 -## 🏷️ v1.2 +## 🏷️ v1.2 (2025.7.22) 1. 升级Dex1_1夹爪控制代码，匹配 [dex1_1 service](https://github.com/unitreerobotics/dex1_1_service) 驱动 -## 🏷️ v1.1 +## 🏷️ v1.1 (2025.7.18) 1. 末端执行器类型新增'brainco'，这是[强脑科技第二代灵巧手](https://www.brainco-hz.com/docs/revolimb-hand/) 2. 为避免与实机部署时发生冲突，将仿真模式下的 dds 通道的domain id修改为1 3. 修复默认频率过高的问题 -## 🏷️ v1.0 (newvuer) +## 🏷️ v1.0 (newvuer)(2025.7.8) 1. 升级 [Vuer](https://github.com/vuer-ai/vuer) 库至 v0.0.60 版本，XR设备支持模式扩展为**手部跟踪**和**控制器跟踪**两种。为更准确反映功能范围，项目由 **avp_teleoperate** 更名为 **xr_teleoperate**。 @@ -64,7 +72,7 @@ 5. 其他一些优化 -## 🏷️ v0.5 (oldvuer) +## 🏷️ v0.5 (oldvuer) (2025.4.30) 1. 该版本曾经命名为 `avp_teleoperate` 2. 支持 'G1_29', 'G1_23', 'H1_2', 'H1' 机器人类型 diff --git a/README.md b/README.md index 049dcce..c5cd2b8 100644 --- a/README.md +++ b/README.md @@ -36,20 +36,14 @@ # 🔖[Release Note](CHANGELOG.md) -## 🏷️ v1.4 +## 🏷️ v1.5 (2025.12.29) -- The **image server** has been changed to [teleimager](https://github.com/silencht/teleimager). Please refer to the repository README for details. +- support simulation +- add CycloneDDS interface name parameter +- [add caching to speed-up urdf loading](https://github.com/unitreerobotics/xr_teleoperate/commit/6cab654620735bfa347c1cd32a0d8c0c1e6ec343) +- ... -- Upgraded [televuer](https://github.com/silencht/televuer). Please see the repository README for details. - > The new versions of [teleimager](https://github.com/silencht/teleimager/commit/ab5018691943433c24af4c9a7f3ea0c9a6fbaf3c) + [televuer](https://github.com/silencht/televuer/releases/tag/v3.0) support transmitting **head camera images via WebRTC**. - > Supports **pass-through**, **ego**, and **immersive** modes. - -- Improved the system’s **state machine** information and IPC mode. - -- Added support for **Inspire_FTP dexterous hand**. - -- … # 0. 📖 Introduction @@ -212,14 +206,15 @@ build cert.pem key.pem LICENSE pyproject.toml README.md rootCA.key rootCA - **Basic control parameters** -| ⚙️ Parameter | 📜 Description | 🔘 Available Options | 📌 Default | -| :---------------: | :----------------------------------------------------------: | :----------------------------------------------------------: | :---------------: | -| `--frequency` | Set the FPS for recording and control | Any reasonable float value | 30.0 | -| `--input-mode` | Choose XR input mode (how to control the robot) | `hand` (hand tracking)`controller` (controller tracking) | `hand` | -| `--display-mode` | Choose XR display mode (how to view the robot perspective) | `immersive` (immersive)`ego` (pass-through + small first-person window)`pass-through` (pass-through only) | `immersive` | -| `--arm` | Select the robot arm type (see 0. 📖 Introduction) | `G1_29` `G1_23` `H1_2` `H1` | `G1_29` | -| `--ee` | Select the end-effector type of the arm (see 0. 📖 Introduction) | `dex1` `dex3` `inspire_ftp` `inspire_dfx` `brainco` | None | -| `--img-server-ip` | Set the image server IP address for receiving image streams and configuring WebRTC signaling | `IPv4` address | `192.168.123.164` | +| ⚙️ Parameter | 📜 Description | 🔘 Available Options | 📌 Default | +| :-------------------: | :----------------------------------------------------------: | :----------------------------------------------------------: | :---------------: | +| `--frequency` | Set the FPS for recording and control | Any reasonable float value | 30.0 | +| `--input-mode` | Choose XR input mode (how to control the robot) | `hand` (hand tracking)`controller` (controller tracking) | `hand` | +| `--display-mode` | Choose XR display mode (how to view the robot perspective) | `immersive` (immersive)`ego` (pass-through + small first-person window)`pass-through` (pass-through only) | `immersive` | +| `--arm` | Select the robot arm type (see 0. 📖 Introduction) | `G1_29` `G1_23` `H1_2` `H1` | `G1_29` | +| `--ee` | Select the end-effector type of the arm (see 0. 📖 Introduction) | `dex1` `dex3` `inspire_ftp` `inspire_dfx` `brainco` | None | +| `--img-server-ip` | Set the image server IP address for receiving image streams and configuring WebRTC signaling | `IPv4` address | `192.168.123.164` | +| `--network-interface` | Set the network interface for CycloneDDS communication | Network Interface Name | `None` | - **Mode switch parameters** @@ -245,7 +240,6 @@ build cert.pem key.pem LICENSE pyproject.toml README.md rootCA.key rootCA ## 2.1 📥 Environment Setup -> Since the image service has been upgraded to `teleimager`, the simulation deployment for v1.4 is temporarily unavailable. Please use v1.3 for testing for now. First, install [unitree_sim_isaaclab](https://github.com/unitreerobotics/unitree_sim_isaaclab). Follow that repo’s README. diff --git a/README_zh-CN.md b/README_zh-CN.md index 5122922..82ccb62 100644 --- a/README_zh-CN.md +++ b/README_zh-CN.md @@ -36,21 +36,14 @@ # 🔖 [版本说明](CHANGELOG_zh-CN.md) -## 🏷️ v1.4 +## 🏷️ v1.5 (2025.12.29) -- **图像服务器**变更为 [teleimager](https://github.com/silencht/teleimager)，具体请查看仓库README。 +- 支持**仿真模式** +- 添加 cyclonedds 网卡名称参数 +- [引入缓存机制以加速 URDF 加载](https://github.com/unitreerobotics/xr_teleoperate/commit/6cab654620735bfa347c1cd32a0d8c0c1e6ec343) +- ... -- 升级 [televuer](https://github.com/silencht/televuer)，具体请查看仓库README。 - > 新版本的 [teleimager](https://github.com/silencht/teleimager/commit/ab5018691943433c24af4c9a7f3ea0c9a6fbaf3c) + [televuer](https://github.com/silencht/televuer/releases/tag/v3.0) 支持通过 webrtc 传输头部相机图像 - > - > 支持 pass-through, ego, immersive 三种模式 - -- 完善系统的**状态机**信息、IPC模式。 - -- 支持 **inspire_FTP** 灵巧手。 - -- ··· # 0. 📖 介绍 @@ -225,14 +218,15 @@ build cert.pem key.pem LICENSE pyproject.toml README.md rootCA.key rootCA - 基础控制参数 -| ⚙️ 参数 | 📜 说明 | 🔘 目前可选值 | 📌 默认值 | -| :---------------: | :----------------------------------------------------------: | :----------------------------------------------------------: | :---------------: | -| `--frequency` | 设置录制和控制的 FPS | 任意正常范围内的浮点数 | 30.0 | -| `--input-mode` | 选择 XR 输入模式（通过什么方式控制机器人） | `hand`（**手势跟踪**）
`controller`（**手柄跟踪**） | `hand` | -| `--display-mode` | 选择 XR 显示模式（通过什么方式查看机器人视角） | `immersive`（沉浸式）
`ego`（通透+第一人称小窗）
`pass-through`（通透） | `immersive` | -| `--arm` | 选择机器人设备类型（可参考 0. 📖 介绍） | `G1_29`
`G1_23`
`H1_2`
`H1` | `G1_29` | -| `--ee` | 选择手臂的末端执行器设备类型（可参考 0. 📖 介绍） | `dex1`
`dex3`
`inspire_ftp`
`inspire_dfx`
`brainco` | 无默认值 | -| `--img-server-ip` | 设置图像服务器的 IP 地址，用于接收图像服务流、配置 WebRTC 信令服务地址 | `IPv4` 地址 | `192.168.123.164` | +| ⚙️ 参数 | 📜 说明 | 🔘 目前可选值 | 📌 默认值 | +| :-------------------: | :----------------------------------------------------------: | :----------------------------------------------------------: | :---------------: | +| `--frequency` | 设置录制和控制的 FPS | 任意正常范围内的浮点数 | 30.0 | +| `--input-mode` | 选择 XR 输入模式（通过什么方式控制机器人） | `hand`（**手势跟踪**）
`controller`（**手柄跟踪**） | `hand` | +| `--display-mode` | 选择 XR 显示模式（通过什么方式查看机器人视角） | `immersive`（沉浸式）
`ego`（通透+第一人称小窗）
`pass-through`（通透） | `immersive` | +| `--arm` | 选择机器人设备类型（可参考 0. 📖 介绍） | `G1_29`
`G1_23`
`H1_2`
`H1` | `G1_29` | +| `--ee` | 选择手臂的末端执行器设备类型（可参考 0. 📖 介绍） | `dex1`
`dex3`
`inspire_ftp`
`inspire_dfx`
`brainco` | 无默认值 | +| `--img-server-ip` | 设置图像服务器的 IP 地址，用于接收图像服务流、配置 WebRTC 信令服务地址 | `IPv4` 地址 | `192.168.123.164` | +| `--network-interface` | 设置 cyclonedds 通信的网卡接口 | 网卡名称 | `None` | - 模式开关参数 @@ -261,7 +255,6 @@ build cert.pem key.pem LICENSE pyproject.toml README.md rootCA.key rootCA ## 2.1 📥 环境配置 -> 因为图像服务升级为`teleimager`，v1.4 版本仿真部署暂未上线，请暂时使用 v1.3 进行测试 首先，请安装 [unitree_sim_isaaclab](https://github.com/unitreerobotics/unitree_sim_isaaclab)。具体安装步骤，可参考该仓库 README 文档。 diff --git a/teleop/robot_control/robot_arm.py b/teleop/robot_control/robot_arm.py index 79d6c4c..2961110 100644 --- a/teleop/robot_control/robot_arm.py +++ b/teleop/robot_control/robot_arm.py @@ -80,12 +80,6 @@ class G1_29_ArmController: self._gradual_start_time = None self._gradual_time = None - # initialize lowcmd publisher and lowstate subscriber - if self.simulation_mode: - ChannelFactoryInitialize(1) - else: - ChannelFactoryInitialize(0) - if self.motion_mode: self.lowcmd_publisher = ChannelPublisher(kTopicLowCommand_Motion, hg_LowCmd) else: @@ -368,11 +362,6 @@ class G1_23_ArmController: self._gradual_start_time = None self._gradual_time = None - # initialize lowcmd publisher and lowstate subscriber - if self.simulation_mode: - ChannelFactoryInitialize(1) - else: - ChannelFactoryInitialize(0) if self.motion_mode: self.lowcmd_publisher = ChannelPublisher(kTopicLowCommand_Motion, hg_LowCmd) @@ -648,11 +637,6 @@ class H1_2_ArmController: self._gradual_start_time = None self._gradual_time = None - # initialize lowcmd publisher and lowstate subscriber - if self.simulation_mode: - ChannelFactoryInitialize(1) - else: - ChannelFactoryInitialize(0) if self.motion_mode: self.lowcmd_publisher = ChannelPublisher(kTopicLowCommand_Motion, hg_LowCmd) @@ -932,11 +916,6 @@ class H1_ArmController: self._gradual_start_time = None self._gradual_time = None - # initialize lowcmd publisher and lowstate subscriber - if self.simulation_mode: - ChannelFactoryInitialize(1) - else: - ChannelFactoryInitialize(0) self.lowcmd_publisher = ChannelPublisher(kTopicLowCommand_Debug, go_LowCmd) self.lowcmd_publisher.Init() self.lowstate_subscriber = ChannelSubscriber(kTopicLowState, go_LowState) @@ -1138,7 +1117,9 @@ class H1_JointIndex(IntEnum): if __name__ == "__main__": from robot_arm_ik import G1_29_ArmIK, G1_23_ArmIK, H1_2_ArmIK, H1_ArmIK - import pinocchio as pin + import pinocchio as pin + + ChannelFactoryInitialize(1) # 0 for real robot, 1 for simulation arm_ik = G1_29_ArmIK(Unit_Test = True, Visualization = False) arm = G1_29_ArmController(simulation_mode=True) diff --git a/teleop/robot_control/robot_hand_brainco.py b/teleop/robot_control/robot_hand_brainco.py index 9625d5a..d0f5d9a 100644 --- a/teleop/robot_control/robot_hand_brainco.py +++ b/teleop/robot_control/robot_hand_brainco.py @@ -32,10 +32,6 @@ class Brainco_Controller: else: self.hand_retargeting = HandRetargeting(HandType.BRAINCO_HAND_Unit_Test) - if self.simulation_mode: - ChannelFactoryInitialize(1) - else: - ChannelFactoryInitialize(0) # initialize handcmd publisher and handstate subscriber self.LeftHandCmb_publisher = ChannelPublisher(kTopicbraincoLeftCommand, MotorCmds_) diff --git a/teleop/robot_control/robot_hand_inspire.py b/teleop/robot_control/robot_hand_inspire.py index 26f8213..abb9c5d 100644 --- a/teleop/robot_control/robot_hand_inspire.py +++ b/teleop/robot_control/robot_hand_inspire.py @@ -29,10 +29,6 @@ class Inspire_Controller_DFX: else: self.hand_retargeting = HandRetargeting(HandType.INSPIRE_HAND_Unit_Test) - if self.simulation_mode: - ChannelFactoryInitialize(1) - else: - ChannelFactoryInitialize(0) # initialize handcmd publisher and handstate subscriber self.HandCmb_publisher = ChannelPublisher(kTopicInspireDFXCommand, MotorCmds_) @@ -178,10 +174,6 @@ class Inspire_Controller_FTP: else: self.hand_retargeting = HandRetargeting(HandType.INSPIRE_HAND_Unit_Test) - if self.simulation_mode: - ChannelFactoryInitialize(1) - else: - ChannelFactoryInitialize(0) # Initialize hand command publishers self.LeftHandCmd_publisher = ChannelPublisher(kTopicInspireFTPLeftCommand, inspire_dds.inspire_hand_ctrl) diff --git a/teleop/robot_control/robot_hand_unitree.py b/teleop/robot_control/robot_hand_unitree.py index 93c4ca4..d10fd7a 100644 --- a/teleop/robot_control/robot_hand_unitree.py +++ b/teleop/robot_control/robot_hand_unitree.py @@ -63,11 +63,6 @@ class Dex3_1_Controller: else: self.hand_retargeting = HandRetargeting(HandType.UNITREE_DEX3_Unit_Test) - if self.simulation_mode: - ChannelFactoryInitialize(1) - else: - ChannelFactoryInitialize(0) - # initialize handcmd publisher and handstate subscriber self.LeftHandCmb_publisher = ChannelPublisher(kTopicDex3LeftCommand, HandCmd_) self.LeftHandCmb_publisher.Init() @@ -268,11 +263,6 @@ class Dex1_1_Gripper_Controller: self.smooth_filter = WeightedMovingFilter(np.array([0.5, 0.3, 0.2]), 2) else: self.smooth_filter = None - - if self.simulation_mode: - ChannelFactoryInitialize(1) - else: - ChannelFactoryInitialize(0) # initialize handcmd publisher and handstate subscriber self.LeftGripperCmb_publisher = ChannelPublisher(kTopicGripperLeftCommand, MotorCmds_) @@ -414,6 +404,8 @@ if __name__ == "__main__": args = parser.parse_args() logger_mp.info(f"args:{args}\n") + ChannelFactoryInitialize(1) # 0 for real robot, 1 for simulation + # image client img_client = ImageClient(host='127.0.0.1') #host='192.168.123.164' if not img_client.has_head_cam(): diff --git a/teleop/teleop_hand_and_arm.py b/teleop/teleop_hand_and_arm.py index cf442c4..b4afb92 100644 --- a/teleop/teleop_hand_and_arm.py +++ b/teleop/teleop_hand_and_arm.py @@ -12,6 +12,7 @@ current_dir = os.path.dirname(os.path.abspath(__file__)) parent_dir = os.path.dirname(current_dir) sys.path.append(parent_dir) +from unitree_sdk2py.core.channel import ChannelFactoryInitialize # dds from televuer import TeleVuerWrapper from teleop.robot_control.robot_arm import G1_29_ArmController, G1_23_ArmController, H1_2_ArmController, H1_ArmController from teleop.robot_control.robot_arm_ik import G1_29_ArmIK, G1_23_ArmIK, H1_2_ArmIK, H1_ArmIK @@ -78,6 +79,7 @@ if __name__ == '__main__': parser.add_argument('--arm', type=str, choices=['G1_29', 'G1_23', 'H1_2', 'H1'], default='G1_29', help='Select arm controller') parser.add_argument('--ee', type=str, choices=['dex1', 'dex3', 'inspire_ftp', 'inspire_dfx', 'brainco'], help='Select end effector controller') parser.add_argument('--img-server-ip', type=str, default='192.168.123.164', help='IP address of image server, used by teleimager and televuer') + parser.add_argument('--network-interface', type=str, default=None, help='Network interface for dds communication, e.g., eth0, wlan0. If None, use default interface.') # mode flags parser.add_argument('--motion', action = 'store_true', help = 'Enable motion control mode') parser.add_argument('--headless', action='store_true', help='Enable headless mode (no display)') @@ -96,6 +98,12 @@ if __name__ == '__main__': logger_mp.info(f"args: {args}") try: + # setup dds communication domains id + if args.sim: + ChannelFactoryInitialize(1, networkInterface=args.network_interface) + else: + ChannelFactoryInitialize(0, networkInterface=args.network_interface) + # ipc communication mode. client usage: see utils/ipc.py if args.ipc: ipc_server = IPC_Server(on_press=on_press,get_state=get_state) diff --git a/teleop/utils/motion_switcher.py b/teleop/utils/motion_switcher.py index 81dde9a..48ad835 100644 --- a/teleop/utils/motion_switcher.py +++ b/teleop/utils/motion_switcher.py @@ -8,7 +8,6 @@ import time # MotionSwitcher used to switch mode between debug mode and ai mode class MotionSwitcher: def __init__(self): - ChannelFactoryInitialize(0) self.msc = MotionSwitcherClient() self.msc.SetTimeout(1.0) self.msc.Init() @@ -33,7 +32,6 @@ class MotionSwitcher: class LocoClientWrapper: def __init__(self): - ChannelFactoryInitialize(0) self.client = LocoClient() self.client.SetTimeout(0.0001) self.client.Init() @@ -45,7 +43,7 @@ class LocoClientWrapper: self.client.Move(vx, vy, vyaw, continous_move=False) if __name__ == '__main__': - ChannelFactoryInitialize(0) + ChannelFactoryInitialize(1) # 0 for real robot, 1 for simulation ms = MotionSwitcher() status, result = ms.Enter_Debug_Mode() print("Enter debug mode:", status, result) diff --git a/teleop/utils/sim_state_topic.py b/teleop/utils/sim_state_topic.py index 5203701..9ad90a4 100644 --- a/teleop/utils/sim_state_topic.py +++ b/teleop/utils/sim_state_topic.py @@ -221,10 +221,6 @@ class SimStateSubscriber: def is_running(self) -> bool: """Check if subscriber is running""" return self.running - - def __del__(self): - """Destructor""" - self.stop_subscribe() def start_sim_state_subscribe(shm_name: str = "sim_state_cmd_data", shm_size: int = 4096) -> SimStateSubscriber: @@ -245,7 +241,7 @@ def start_sim_state_subscribe(shm_name: str = "sim_state_cmd_data", shm_size: in # if __name__ == "__main__": # # example usage # logger_mp.info("Starting sim state subscriber...") -# ChannelFactoryInitialize(0) +# ChannelFactoryInitialize(1) # 0 for real robot, 1 for simulation # # create and start subscriber # subscriber = start_sim_state_subscribe()