fix: 修正 RM75 UDP 上报周期单位

xr_rm_teleop/test/test_initial_joint_pose.py

@@ -412,7 +412,15 @@ def test_udp_fault_and_recovery_are_logged_once_per_transition() -> None:
     assert len([message for message in logger.infos if "恢复正常" in message]) == 1
 
 
-def test_connect_configures_udp_feedback_and_waits_for_first_frame(monkeypatch) -> None:
+@pytest.mark.parametrize(
+    ("cycle_ms", "sdk_cycle"),
+    [(5, 1), (10, 2)],
+)
+def test_connect_converts_udp_feedback_cycle_to_sdk_units(
+    monkeypatch,
+    cycle_ms,
+    sdk_cycle,
+) -> None:
     fake_sdk = _install_fake_sdk(monkeypatch)
     adapter = RealManAdapter(
         "127.0.0.1",
@@ -420,6 +428,7 @@ def test_connect_configures_udp_feedback_and_waits_for_first_frame(monkeypatch)
         0,
         "192.168.192.148",
         8090,
+        realtime_push_cycle_ms=cycle_ms,
         configure_safety_limits=False,
     )
 
@@ -427,7 +436,13 @@ def test_connect_configures_udp_feedback_and_waits_for_first_frame(monkeypatch)
 
     arm = fake_sdk.RoboticArm.instance
     assert arm is not None
-    assert arm.config.args == (5, True, 8090, 0, "192.168.192.148")
+    assert arm.config.args == (
+        sdk_cycle,
+        True,
+        8090,
+        0,
+        "192.168.192.148",
+    )
     assert arm.callback is adapter._realtime_callback
     assert adapter.get_latest_joint_state() is not None
     assert not hasattr(adapter, "_feedback_thread")

xr_rm_teleop/xr_rm_teleop/realman_adapter.py

@@ -188,7 +188,7 @@ class RealManAdapter:
                 self._realtime_callback
             )
             config = rm_realtime_push_config_t(
-                self._realtime_push_cycle_ms,
+                self._realtime_push_cycle_ms // 5,
                 True,
                 self._realtime_push_port,
                 0,