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Changes to be committed:
	modified:   .gitignore
	modified:   README.md
	new file:   bashes/auto-wifi-connect.service
	new file:   bashes/auto-wifi-connect.sh
	deleted:    keyboard_control.py
	new file:   my_model/image.png
	new file:   path_follower_demo.py
	new file:   scripts/PIDtracking.py
	new file:   scripts/__pycache__/publish_sine_path.cpython-310.pyc
	new file:   scripts/publish_sine_path.py
	modified:   src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml
	modified:   src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak
	new file:   src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml.bak2
	modified:   src/origincar_base/config/ekf.yaml
	new file:   src/origincar_base/config/ekf.yaml.bak
	modified:   src/origincar_base/launch/base_serial.launch.py
	new file:   src/origincar_base/launch/base_serial.launch.py.bak
	modified:   src/origincar_base/launch/origincar_bringup.launch.py
	new file:   src/past_control/CMakeLists.txt
	new file:   src/past_control/config/past_control.yaml
	new file:   src/past_control/include/past_control/tools.h
	new file:   src/past_control/launch/past_control.launch.py
	new file:   src/past_control/msg/Obstacle.msg
	new file:   src/past_control/msg/ObstacleArray.msg
	new file:   src/past_control/package.xml
	new file:   src/past_control/src/lane_follower_node.cpp
	new file:   src/past_control/src/obstacle_detector_node.cpp
	new file:   src/past_control/src/racing_orchestrator.cpp
	new file:   src/planner/CMakeLists.txt
	new file:   src/planner/config/planner.yaml
	new file:   src/planner/launch/planner.launch.py
	new file:   src/planner/package.xml
	new file:   src/planner/src/planner_version.cpp
	modified:   src/qr_detection/src/qr_dete_depth.cpp
	new file:   src/racing_control/CMakeLists.txt
	new file:   src/racing_control/include/racing_control/racing_control.hpp
	new file:   src/racing_control/package.xml
	new file:   src/racing_control/src/racing_control.cpp
	modified:   src/vlm_detect/setup.py
	new file:   src/vlm_detect/vlm_detect/__pycache__/__init__.cpython-310.pyc
	new file:   src/vlm_detect/vlm_detect/__pycache__/tts_node.cpython-310.pyc
	new file:   src/vlm_detect/vlm_detect/test_publisher.py
	new file:   src/vlm_detect/vlm_detect/tts_node.py
	modified:   src/vlm_detect/vlm_detect/vlm_node.py
	new file:   tools/measure_turning_radius.py
	new file:   tools/set_volume.py
	new file:   tools/udp_to_cmdvel.py
	new file:   tools/windows_keyboard_control.py
	new file:   vlm_server.py
	new file:   "\350\260\203\350\257\225\350\256\260\345\275\225.Assets/1.png"
	renamed:    "\350\260\203\350\257\225\350\256\260\345\275\225.log" -> "\350\260\203\350\257\225\350\256\260\345\275\225.md"

tools/udp_to_cmdvel.py

@@ -0,0 +1,58 @@
+#!/usr/bin/env python3
+"""
+UDP → /cmd_vel bridge for keyboard control.
+Receives (float64 lin_x, float64 ang_z) from Windows client.
+
+Deploy on RDKx5: /home/sunrise/yiliao_ws/udp_to_cmdvel.py
+Run: python3 udp_to_cmdvel.py
+"""
+
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+import socket
+import struct
+import sys
+
+
+class UDPToCmdVel(Node):
+    def __init__(self, port=9999):
+        super().__init__("udp_to_cmdvel")
+        self.pub = self.create_publisher(Twist, "/cmd_vel", 10)
+        self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        self.sock.bind(("0.0.0.0", port))
+        self.sock.settimeout(0.1)
+        self.get_logger().info("Listening on UDP port %d → /cmd_vel" % port)
+        self.create_timer(0.05, self.loop)
+
+    def loop(self):
+        try:
+            data, addr = self.sock.recvfrom(16)
+            lin, ang = struct.unpack('dd', data)
+            msg = Twist()
+            msg.linear.x = lin
+            msg.angular.z = ang
+            self.pub.publish(msg)
+        except socket.timeout:
+            pass
+
+    def destroy_node(self):
+        self.sock.close()
+        super().destroy_node()
+
+
+def main():
+    rclpy.init()
+    port = int(sys.argv[1]) if len(sys.argv) > 1 else 9999
+    node = UDPToCmdVel(port=port)
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()