MnAkash

import rclpy
from rclpy.action import ActionServer
from rclpy.node import Node
import time
import os
import zmq
import tempfile
import functools
from std_msgs.msg import String
from shr_msgs.action import QuestionResponseRequest

MnAkash

import zmq, time, json, threading

# ─── CONFIG ───────────────────────────────────────────────────────────────────
# You already bind on the PC; keep it this way:
IP = "0.0.0.0"
PUB_ENDPOINT  = f"tcp://{IP}:5556"  # Android SUB.connects here
PULL_ENDPOINT = f"tcp://{IP}:5557"  # Android PUSH.connects here

COMMANDS = [
    "TURN_OFF",