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Fix DDS init on modern kernels: idempotent ChannelFactory.Init + relax cyclonedds pin #182

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Fix DDS init on modern kernels: idempotent ChannelFactory.Init + relax cyclonedds pin #182

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2 changes: 1 addition & 1 deletion external_dependencies/unitree_sdk2_python/setup.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@
},
python_requires='>=3.8',
install_requires=[
"cyclonedds==0.10.2",
"cyclonedds>=0.10.2,<12",
"numpy",
"opencv-python",
],
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7 changes: 7 additions & 0 deletions external_dependencies/unitree_sdk2_python/unitree_sdk2py/core/channel.py
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Expand Up @@ -196,6 +196,13 @@ def __init__(self):
super().__init__()

def Init(self, id: int, networkInterface: str = None, qos: Qos = None):
# Idempotent: the factory is a Singleton, and re-creating the Domain for
# the same process raises on cyclonedds >= 11 ("Occurred upon
# initialisation of a cyclonedds.domain.Domain"). gear_sonic initializes
# from both the control loop and the simulator in one process, so a
# second Init with an already-live domain must be a no-op.
if self.__domain is not None:
return True
config = None
# choose config
if networkInterface is None:
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