huawei-cloud-cloudrobo-r2c

Windows / PowerShell: Examples use bash syntax. To run on Windows PowerShell:

• Flatten \ line continuations to a single line, or end lines with a backtick.
• Set env vars with $env:NAME="value" instead of export NAME="value".
• Single-quoted JSON '{"a":"b"}' works as-is.

Overview 概述

The cloudrobo-r2c skill operates the R2C (Robot-to-Cloud) data-plane SDK. Unlike other cloudrobo skills that call REST APIs via cloudrobo-service, this skill runs long-lived data-plane processes that use Zenoh pub/sub with Protobuf serialization and mTLS authentication. It covers one CLI command: r2c client (robot edge client).

Applicable scenarios:

• Robot edge client — Start the robot-side process that bridges physical hardware to the cloud via Zenoh. Reads sensor observations from a hardware adapter, translates to R2C Protobuf messages, publishes to Zenoh, subscribes to cloud actions, translates back, and executes on hardware.
• Custom adapter development — Guide developers through implementing custom IRobotHardwareAdapter classes and ConfigurableDeviceTranslator mappings for robots not in the built-in adapter list.

Architecture:

                          Zenoh pub/sub (mTLS)
  ┌─────────────┐  observations  ┌──────────────────┐
  │ Robot Edge  │ ─────────────► │                  │
  │ Client      │                │  Zenoh Router    │
  │ (r2c client)│ ◄───────────── │                  │
  └──────┬──────┘     actions    └──────────────────┘
         │
  ┌──────▼──────┐
  │ Hardware     │
  │ Adapter      │
  │ (robot arm,  │
  │  gripper...) │
  └─────────────┘

  Credential Bundle (from robot skill export-certificate)
  ├── device_info.json   (account_id, robot_id, permission_role)
  ├── zenoh.json         (mode, endpoints, mTLS config)
  ├── ca.pem             (CA certificate)
  ├── server_cert.pem    (client certificate — note: named server_cert.pem in the exported bundle)
  └── server_key.pem     (private key, optionally encrypted)

--bundle accepts the access-config zip directly (or an extracted directory); the SDK resolves the certificate paths inside zenoh.json (which references a certs/-style layout) automatically. Do not manually rename the cert files.

The R2C data plane is decoupled from the CloudRobo REST API. The platform's cloudrobo-service handles robot registration and certificate export (covered by the robot skill); the R2C SDK consumes the exported credential bundle to establish mTLS-authenticated Zenoh sessions.