In mission critical teleop applications, it is necessary to detect and react to session disconnections within milliseconds. This can be achieved by listening to a high frequency streaming heartbeat that is continually sent from the operator to device during teleop. This heartbeat is communicated over SCTP and requires less than 0.004Mbps. The robot application can listen to the teleop’s heartbeat and handle disconnects immediately, or time out when the teleop heartbeat stalls.
Using the Formant Agent SDK, you can run an application on your device which monitors heartbeat messages from the Formant UI and responds to lags or disconnections in a teleoperation session. You can also distinguish between session types connected to your device from the Formant UI.
For more information, including a code example, see Receiving teleop heartbeats.
Updated 4 months ago