Default robotmq addresses:

• iphone: tcp://*:15555
• mocap: tcp://*:15556
• spacemouse: tcp://*:15557
• keyboard: tcp://*:15558

Install

# If you want to run all the example scripts, you can create a conda environment with all the dependencies
conda env create -f conda_environment.yaml
# Otherwise, only install some required dependencies for server and client (into your current environment)
conda install cmake spdlog cppzmq zeromq boost pybind11

# Install robot-message-queue
git clone https://github.com/yihuai-gao/robot-message-queue.git ../robot-message-queue
pip install -e ../robot-message-queue

# Install teleop-utils
pip install -e .

Run

In one terminal, run the server and keep it running in the background. You don't need to close it once you start it.

conda activate teleop-utils # Or some other environment
# Run the server (choose one of them)
python -m teleop_utils.spacemouse.spacemouse_server
python -m teleop_utils.iphone.iphone_server
python -m teleop_utils.mocap.mocap_server
python -m teleop_utils.keyboard.keyboard_server

In another terminal, run the test scripts in the client code. You can follow these scripts and integrate the client into your code base.

conda activate teleop-utils # Or another environment (even with different python versions than the server)
# Run the client (choose one of them)
python -m teleop_utils.spacemouse.spacemouse_client
python -m teleop_utils.iphone.iphone_client
python -m teleop_utils.mocap.mocap_client
python -m teleop_utils.keyboard.keyboard_client

Important Notes

• You can run the server and client in different python environments, but please make sure the numpy versions are compatible between the server and client when using pickle.dumps (otherwise you may get some numpy errors, such as No module named numpy._core)
• The keyboard server will only listen to the keyboard events in the terminal where it is running.