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fix: remove robot-side 250ms network disarm

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LengedZhao
2026-08-08 17:44:51 +08:00
parent 6bf610295b
commit 208e863a4d
6 changed files with 75 additions and 21 deletions
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5
tg3_local_teleop/config.toml
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@@ -11,14 +11,13 @@ omnisocket_max_packet_age_ms = 300.0
# Active traffic resets this timer and is never interrupted by this refresh.
omnisocket_idle_session_refresh_s = 30.0
# The native session can remain blocked on an old connection after the public
# Hub disappears. Publication stops at source_timeout_s; after this longer
# interval the process exits and systemd creates a completely fresh session.
# Hub disappears. An active session that receives no business frame for this
# interval exits so systemd creates a completely fresh session.
omnisocket_restart_after_stale_s = 2.0
# Retained only as a direct-LAN fallback when transport is changed to "zmq".
iarm_endpoint = "tcp://192.168.5.14:5003"
expected_iarm_id = "IArm009027FA8190"
expected_iarm_type = "TS1P"
source_timeout_s = 0.25
minimum_arm_frequency_hz = 30.0
[ros]