Copper-Rs: Live Telemetry Deterministic Twins for Robots
Recorded: Sept. 22, 2026, 3:09 a.m.
| Original | Summarized |
copper-rs 1.2: Live Telemetry Twins — Copper Robotics 0 Skip to Content Home Blog Docs Contact Open Menu Home Blog Docs Contact Open Menu Home Blog Docs Contact copper-rs 1.2: Live Telemetry Twins Sep 19 Written By Guillaume Binet Copper is firmly anchored into the reality of our users: networks can be unreliable, the robot might not come back, you might want or have a return link broadcasting your ground equipment position etc… With v1.2 we implemented a state of the art telemetry function fully leveraging the determinism of your favorite robot stack, read on!In a nutshell copper-rs is now able to live clone itself over unreliable one way links. This magic is possible with Forward Error Correction to recover packet losses and of course the unique deterministic property of the copper stack so its Twin can reconstruct the entire state of your robot remotely! Overall log streaming architecture Let’s follow step by step how this magic happens:(1) This is your normal copper stack(2) This is your normal .copper onboard logging system. This becomes optional if you rely fully on this log streaming feature.(3) You can set the series of minimal inputs to deterministically anything coming downstream of those input.(4) Copper will stream its copperlists with FEC, it is done by sending after the fact error packet corrections for the past packets.(5) Twin Copper decode, fix, reorder the stream from the lossy connection based on the redundancy in the protocol(6) What if really we miss too much? No worries your stack can send recovery points (that are themselves self healing) to jump restart at any point your twin.(7) Twin Copper stack is now exactly what is running your robot!(8) You can log a standard .copper deterministic log (9) You can build a full Telemetry display to expose exactly what is interesting for you operationally to watch: could be messages, task states, error states, even tasks fields or structured logging exactly like any locally running copper! TUI example in the tree but you have a full API to be able to build a GU Check out full demo application here: https://github.com/copper-project/copper-rs/tree/master/examples/cu_logstream_demo with a minimal remote telemetry console, simulated packed losses etc.Other notable improvements in v1.2 new cu-anynet stereo 3d reconstruction for copper-rs We also added an AI/ML based Anytime algorithm to give you another component you can directly use or inspire yourself to build similar ones. This one is cu-anynet that reconstruct quicky depth from stereo images.And a bunch of ROS2 compatibilty improvements!The full release note is here https://github.com/copper-project/copper-rs/wiki/Copper-Release-NotesIf you have any question, ping us at info@copper-robotics.com Guillaume Binet Next RSS Feed Subscribe First Name Last Name Email Address Sign Up We respect your privacy. info@copper-robotics.com ©2026 Copper Robotics Inc. |
The copper-rs version 1.2 introduces a state-of-the-art telemetry function designed to facilitate live cloning of robot states over unreliable one-way communication links, addressing challenges related to network instability and unreliable return links. This capability is achieved by fully leveraging the determinism inherent in the copper stack alongside Forward Error Correction (FEC) to reconstruct the robot's complete state remotely. The underlying architecture for this live telemetry is predicated on a multi-step process. It begins with the standard copper stack and the onboard .copper logging system, which can be made optional if the system relies entirely on the stream-based logging feature. The mechanism relies on setting minimal inputs that deterministically define all subsequent downstream data. Copper then streams its copperlists utilizing FEC, which involves sending error packet corrections for past packets. The Twin Copper component is responsible for decoding, fixing, and reordering this stream based on the redundancy built into the protocol. To handle significant data loss, the stack incorporates recovery points, which are self-healing mechanisms allowing the system to jump restart at any point for the Twin. This results in a Twin Copper stack that precisely mirrors the operational state of the physical robot. This reconstructed state allows for the logging of a standard deterministic .copper log and the construction of a comprehensive Telemetry display to expose critical operational data, such as messages, task states, error states, and structured logging, functionally identical to locally running copper systems. Beyond the core telemetry functionality, version 1.2 incorporated significant internal optimizations. One notable improvement involved encoding optimization for copperlists, which enhanced logging entropy, for example, improving the Flight Controller logging entropy from 5.9816 to 7.0975 bits per byte, leading to a 52.31 percent reduction in actual byte size. Additionally, the release included the introduction of a new component called cu-anynet, which employs an Anytime algorithm based on artificial intelligence and machine learning to reconstruct three-dimensional depth from stereo images. Furthermore, the release included several improvements focused on ROS2 compatibility. This entire framework is presented by Guillaume Binet. |