# XR-RM PICO UDP Sender

Minimal Unity project for the direct PICO 4 Ultra UDP route in
`docs/pico4_ultra_udp_teleop_setup.md`.

Configured target:

```text
Host = 192.168.9.99
Port = 15000
Send Hz = 90
Convert Unity To Project Coordinates = true
Package Name = com.local.xr_rm_udp_sender
```

The default send rate is 90 Hz. If the network or headset performance is not
stable enough on site, lower it manually in the PICO panel to 60 Hz.

Open this folder with the Ubuntu editor installed at:

```text
/home/robot/Unity/Hub/Editor/2022.3.62f3c1/Editor/Unity
```

Install Android Build Support, Android SDK/NDK, and OpenJDK from Unity Hub.

The PICO SDK is referenced from the sibling folder:

```text
../PICO-Unity-Integration-SDK-release_3.4.0
```

After opening the project:

1. Wait for Unity Package Manager to import `PICO Integration 3.4.0`.
2. Run `XR-RM -> Apply UDP Sender Android Settings`.
3. Build with `XR-RM -> Build Android APK`, or use Unity's Android Build window.

The automated setup enables Android, PICO XR Loader, API 29, Internet access,
IL2CPP + ARM64, and the `PicoControllerUdpSender` scene object.

Runtime scene components:

- `PicoControllerUdpSender`: sends left/right controller JSON to the ROS2 host.
- `PicoUdpConfigPanel`: in-headset config panel plus run HUD.
- `PicoKeepAwake`: while UDP sending is on, requests PICO Enterprise wake lock,
  disables PICO auto sleep, applies Android `KEEP_SCREEN_ON`, and restores
  captured screen/sleep timeouts when sending stops.

Coordinate modes:

- `Project (+Z back)`: ROS-facing output. For `pose_source=pxr_predict`, the
  measured PICO native pose is converted with `project.x=native.z`,
  `project.y=native.y`, and `project.z=-native.x`.
- `Source raw`: sends the source pose without this conversion for field
  diagnostics only.

The setup menu chooses the UDP target host from `XR_RM_UDP_TARGET_HOST` when
set. Otherwise it auto-detects a local IPv4 address; on this Ubuntu machine the
current Wi-Fi address is `192.168.9.99`.

Batchmode build example:

```bash
cd /home/robot/WS_xr/src
XR_RM_UDP_TARGET_HOST=192.168.9.99 \
/home/robot/Unity/Hub/Editor/2022.3.62f3c1/Editor/Unity \
  -batchmode \
  -quit \
  -projectPath "$(pwd)/unity/XR_RM_PICO_UDP_Sender" \
  -executeMethod XrRmUdpSenderProjectSetup.BuildAndroidApk \
  -logFile "$(pwd)/unity_build.log"
```