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:

Host = 192.168.9.99
Port = 15000
Send Hz = 60
Convert Unity To Project Coordinates = true
Package Name = com.local.xr_rm_udp_sender

Open this folder with the Ubuntu editor installed at:

/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:

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

After opening the project:

Wait for Unity Package Manager to import PICO Integration 3.4.0.
Run XR-RM -> Apply UDP Sender Android Settings.
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.

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:

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"