Copper-Rs: Live Telemetry Deterministic Twins for Robots
2 days ago
- copper-rs v1.2 introduces live telemetry twins that can clone the robot stack over unreliable one-way links using Forward Error Correction (FEC) to recover packet losses.
- The deterministic nature of the copper stack allows a remote twin to fully reconstruct the robot's state without needing continuous data.
- The process involves streaming copperlists with FEC, sending error correction packets after the fact, and using recovery points for self-healing if too much data is lost.
- Twin Copper stacks can log deterministic logs and build custom telemetry displays for operational monitoring (e.g., messages, task states, errors).
- A full demo application with a minimal remote console and simulated packet losses is available on GitHub.
- The copperlist encoding was optimized, reducing entropy from 5.9816 to 7.0975 bits/byte (52.31% smaller), beneficial for robots with light logging (no images).
- New AI/ML-based 'Anytime' algorithm (cu-anynet) reconstructs depth from stereo images quickly.
- Numerous ROS2 compatibility improvements were included in this release.
- Full release notes are available on the copper-rs wiki, and support can be contacted via email.