feat(sensors): add Ros2DepthConsumerConfig.frame_delay_ms (configurable depth delay)#135
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kingb merged 1 commit intoJun 27, 2026
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…table depth delay) The ROS2 depth transport is effectively instantaneous (sub-1ms), but policies were trained with the on-robot image_server's inherent capture/serve latency baked in. Re-introduce that as an absolute-ms delay in the consumer so policies see appropriately-delayed frames without carrying any delay logic themselves. - task.py: Ros2DepthConsumerConfig.frame_delay_ms (default 0.0 = freshest frame) - sensors.py: Ros2DepthConsumer buffers timestamped frame sets; get_latest() returns the freshest set at least frame_delay_ms old (robust across fps), None until enough history accrues. Stream-liveness timeout measured against the newest set so the intentional lag isn't mistaken for a dead publisher. - service_node.py: thread frame_delay_ms off task.depth into the consumer, so per-policy presets (e.g. stair_loco) pin the trained delay without touching core. - test_depth_consumer_delay.py: unit tests for the look-back selection.
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Follow-up to #135: the Static Checks job flagged two ruff issues in the new test that the merge didn't block on. - `pytest.raises(ValueError)` -> added `match=` (PT011) - collapsed the multiline `Ros2DepthConsumer(...)` call (ruff-format) Test-only; no behavior change.
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Stacks on #124. Adds a configurable depth latency to
Ros2DepthConsumerWhy
Requested frame_delay_ms feature
What
task.py—Ros2DepthConsumerConfig.frame_delay_ms: float = 0.0. Default0.0preserves current freshest-frame behavior, so existing consumers are unaffected.sensors.py—Ros2DepthConsumerbuffers timestamped frame sets in a ring buffer;get_latest()returns the freshest set at leastframe_delay_msold (Noneuntil enough history accrues to honor the delay). The stream-livenesstimeoutis measured against the newest set, so an intentional delay is never mistaken for a dead publisher.service_node.py— threadsframe_delay_msofftask.depthinto the consumer constructor (same path the other depth config fields take).test_depth_consumer_delay.py— unit tests for the look-back selection (stubbed monotonic clock, no ROS traffic;importorskipfor host envs).