Known limitations

• Multicast: many Wi-Fi networks drop it; use Discovery peers or a Discovery Server.

• Services and actions need Fast DDS on the robot.

• Meshes need a mesh server on the robot and must be STL or Collada (.dae). MESH_RESOURCE markers are not drawn.

• Bags are recorded uncompressed and only MCAP is supported (not .db3).

• Camera subscriptions always use Best effort.

• The teleop publish rate is fixed at 10 Hz.