{"id":50784964,"url":"https://github.com/ar-ray-code/vlaframe-inference-gateway-plugin","last_synced_at":"2026-06-12T07:03:26.041Z","repository":{"id":354059928,"uuid":"1206803005","full_name":"Ar-Ray-code/VLAFrame-inference-gateway-plugin","owner":"Ar-Ray-code","description":null,"archived":false,"fork":false,"pushed_at":"2026-04-21T06:28:55.000Z","size":15,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":0,"default_branch":"main","last_synced_at":"2026-04-27T01:08:54.179Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/Ar-Ray-code.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2026-04-10T09:13:06.000Z","updated_at":"2026-04-22T03:49:58.000Z","dependencies_parsed_at":null,"dependency_job_id":null,"html_url":"https://github.com/Ar-Ray-code/VLAFrame-inference-gateway-plugin","commit_stats":null,"previous_names":["ar-ray-code/vlaframe-inference-gateway-plugin"],"tags_count":null,"template":false,"template_full_name":null,"purl":"pkg:github/Ar-Ray-code/VLAFrame-inference-gateway-plugin","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Ar-Ray-code%2FVLAFrame-inference-gateway-plugin","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Ar-Ray-code%2FVLAFrame-inference-gateway-plugin/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Ar-Ray-code%2FVLAFrame-inference-gateway-plugin/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Ar-Ray-code%2FVLAFrame-inference-gateway-plugin/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/Ar-Ray-code","download_url":"https://codeload.github.com/Ar-Ray-code/VLAFrame-inference-gateway-plugin/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Ar-Ray-code%2FVLAFrame-inference-gateway-plugin/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":34232792,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-05-26T15:22:16.424Z","status":"online","status_checked_at":"2026-06-12T02:00:06.859Z","response_time":109,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2026-06-12T07:03:24.913Z","updated_at":"2026-06-12T07:03:26.012Z","avatar_url":"https://github.com/Ar-Ray-code.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# VLAFrame Inference Gateway Plugin\n\nA VLAFrame pluginlib plugin that offloads inference to a remote gRPC inference-gateway server. Implements `VLAFramePlugin` by forwarding images and joint state via gRPC Predict RPC and returning the action chunk from the server response.\n\n## Overview\n\n```\nVLAFrameNode (ROS 2)\n  └─ InferenceGatewayPlugin\n       │  gRPC Predict (images + joint_state)\n       ▼\n  inference-gateway (:50051)\n       │  round-robin\n       ▼\n  backend server1 / server2 ...\n```\n\n- Images are converted from BGR to RGB, then sent as raw bytes\n- `joint_state` is sent as the `position` field\n- The response `data[rows * cols]` is reshaped into a `[rows][cols]` action chunk\n\n## Prerequisites\n\n- The inference-gateway server must be running (verify with `docker ps`)\n- If not running, start it as follows:\n\n```bash\ncd \u003cpath to VLAFrame-inference-gateway\u003e/\n\n# Start backend server\nSERVER_ID=local1 OUTPUT_ROWS=6 OUTPUT_COLS=6 \\\n  docker compose -f docker-compose.server.yml up --build -d\n\n# Start gateway\nBACKEND_SERVERS=\"local1=\u003cHOST_IP\u003e:50052\" \\\n  docker compose -f docker-compose.gateway.yml up --build -d\n```\n\n## Usage\n\nExample:\n\n```bash\nros2 run vla_frame_node vla_frame_node_exec --ros-args \\\n  -p plugin_type:=inference_gateway_plugin/InferenceGatewayPlugin \\\n  -p model_path:=host.docker.internal:50051 \\\n  -p image_height:=480 \\\n  -p image_width:=640 \\\n  -p joint_state_topic:=/follower/joint_states \\\n  -p arm_trajectory_topic:=/follower/arm_controller/joint_trajectory \\\n  -p gripper_trajectory_topic:=/follower/gripper_controller/joint_trajectory \\\n  -p 'image_topics:=[\"/camera0/image_raw\", \"/camera1/image_raw\"]' \\\n  -p num_arm_joints:=5 \\\n  -p num_gripper_joints:=1\n```\n\n## Parameters (`config/inference_gateway_params.yaml`)\n\n| Parameter | Description | Default |\n|---|---|---|\n| `plugin_type` | pluginlib class name | `inference_gateway_plugin/InferenceGatewayPlugin` |\n| `model_path` | Gateway address (host:port) | `host.docker.internal:50051` |\n| `image_height` | Input image height (for metadata) | `480` |\n| `image_width` | Input image width (for metadata) | `640` |\n| `inference_rate` | Inference rate (Hz) | `10.0` |\n| `num_arm_joints` | Number of arm joints | `5` |\n| `num_gripper_joints` | Number of gripper joints | `1` |\n| `use_state_normalization` | State normalization (handled server-side) | `false` |\n| `use_action_normalization` | Action normalization (handled server-side) | `false` |\n\nIf `model_path` is empty, it falls back to `localhost:50051`.\n\n## Network Configuration\n\nTo connect from a Docker container to the gateway running on the host, add the following to `compose.yaml`:\n\n```yaml\nextra_hosts:\n  - \"host.docker.internal:host-gateway\"\n```\n\nThis allows the container to reach the gateway at `host.docker.internal:50051`.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Far-ray-code%2Fvlaframe-inference-gateway-plugin","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Far-ray-code%2Fvlaframe-inference-gateway-plugin","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Far-ray-code%2Fvlaframe-inference-gateway-plugin/lists"}