5. Basic Constraints for Secondary Development

There are some basic constraints to follow when performing secondary development on the A2 Lite. Violating these constraints may cause damage to the robot’s hardware, software, and system. Repairs due to violations of the following agreements are not covered by the warranty:

Do not deploy secondary development programs on the x86 industrial PC. The motion control program runs on the x86 system, and deploying programs on the x86 industrial PC may lead to CPU and memory resource competition, which can even cause the robot to crash in severe cases.
Do not modify the x86 industrial PC system configuration at will, such as file system mounting, system scheduling policies, default UDP/TCP buffer sizes, and other kernel-related configurations.
Do not modify the configuration of the onboard software modules at will, such as various configurations for motion control and other modules.
Do not modify the system software dependencies at will, and strictly prohibit the use of apt for installing and uninstalling software.
Do not frequently call RPC interfaces, as this can cause excessive load on the system, which may lead to a crash in severe cases. It is recommended to set the polling frequency for continuous status-type RPC interfaces to 0.2 Hz or lower, and the polling frequency for short-term status query interfaces to 1 Hz or lower.