dexcontrol 0.2.1__py3-none-any.whl → 0.2.3__py3-none-any.whl

dexcontrol/sensors/imu/{nine_axis_imu.py → zed_imu.py}

@@ -1,9 +1,14 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# This software is dual-licensed:
+#
+# 1. GNU Affero General Public License v3.0 (AGPL-3.0)
+#    See LICENSE-AGPL for details
+#
+# 2. Commercial License
+#    For commercial licensing terms, contact: contact@dexmate.ai
 
-"""Nine-Axis IMU sensor implementation using Zenoh subscriber."""
+"""ZED IMU sensor implementation using Zenoh subscriber."""
 
 import numpy as np
 import zenoh
@@ -11,11 +16,13 @@ import zenoh
 from dexcontrol.utils.subscribers.imu import IMUSubscriber
 
 
-class NineAxisIMUSensor:
-    """Nine-Axis IMU sensor using Zenoh subscriber.
+class ZedIMUSensor:
+    """ZED IMU sensor using Zenoh subscriber.
 
-    This sensor provides 9-axis IMU data including acceleration, angular velocity,
-    orientation, and magnetometer data using the IMUSubscriber for efficient data handling.
+    This sensor provides IMU data from ZED cameras including acceleration, angular velocity,
+    orientation quaternion, and magnetometer data using the IMUSubscriber for efficient data handling.
+    The ZED IMU typically provides 9-axis data (accelerometer, gyroscope, magnetometer) with
+    quaternion orientation.
     """
 
     def __init__(
@@ -23,13 +30,11 @@ class NineAxisIMUSensor:
         configs,
         zenoh_session: zenoh.Session,
     ) -> None:
-        """Initialize the Nine-Axis IMU sensor.
+        """Initialize the ZED IMU sensor.
 
         Args:
-            topic: Zenoh topic to subscribe to for IMU data.
+            configs: Configuration object containing topic, name, and other settings.
             zenoh_session: Active Zenoh session for communication.
-            name: Name for the sensor instance.
-            enable_fps_tracking: Whether to track and log FPS metrics.
         """
         self._name = configs.name
 
@@ -42,13 +47,12 @@ class NineAxisIMUSensor:
             fps_log_interval=configs.fps_log_interval,
         )
 
-
     def shutdown(self) -> None:
-        """Shutdown the IMU sensor."""
+        """Shutdown the ZED IMU sensor."""
         self._subscriber.shutdown()
 
     def is_active(self) -> bool:
-        """Check if the IMU sensor is actively receiving data.
+        """Check if the ZED IMU sensor is actively receiving data.
 
         Returns:
             True if receiving data, False otherwise.
@@ -56,7 +60,7 @@ class NineAxisIMUSensor:
         return self._subscriber.is_active()
 
     def wait_for_active(self, timeout: float = 5.0) -> bool:
-        """Wait for the IMU sensor to start receiving data.
+        """Wait for the ZED IMU sensor to start receiving data.
 
         Args:
             timeout: Maximum time to wait in seconds.
@@ -67,30 +71,33 @@ class NineAxisIMUSensor:
         return self._subscriber.wait_for_active(timeout)
 
     def get_obs(self, obs_keys: list[str] | None = None) -> dict[str, np.ndarray] | None:
-        """Get observation data for the Nine-Axis IMU sensor.
+        """Get observation data for the ZED IMU sensor.
 
         Args:
             obs_keys: List of observation keys to retrieve. If None, returns all available data.
-                     Valid keys: ['ang_vel', 'acc', 'mag', 'quat']
+                     Valid keys: ['ang_vel', 'acc', 'quat']
 
         Returns:
             Dictionary with observation data including all IMU measurements.
+            Keys are mapped as follows:
+            - 'ang_vel': Angular velocity from 'angular_velocity'
+            - 'acc': Linear acceleration from 'acceleration'
+            - 'quat': Orientation quaternion from 'orientation'
         """
         if obs_keys is None:
-            obs_keys = ['ang_vel', 'acc', 'mag', 'quat']
+            obs_keys = ['ang_vel', 'acc', 'quat']
 
         data = self._subscriber.get_latest_data()
         if data is None:
             return None
 
         obs_out = {}
+
         for key in obs_keys:
             if key == 'ang_vel':
                 obs_out[key] = data['angular_velocity']
             elif key == 'acc':
                 obs_out[key] = data['acceleration']
-            elif key == 'mag':
-                obs_out[key] = data['magnetometer']
             elif key == 'quat':
                 obs_out[key] = data['orientation']
             else:
@@ -99,7 +106,7 @@ class NineAxisIMUSensor:
         return obs_out
 
     def get_acceleration(self) -> np.ndarray | None:
-        """Get the latest linear acceleration.
+        """Get the latest linear acceleration from ZED IMU.
 
         Returns:
             Linear acceleration [x, y, z] in m/s² if available, None otherwise.
@@ -107,7 +114,7 @@ class NineAxisIMUSensor:
         return self._subscriber.get_acceleration()
 
     def get_angular_velocity(self) -> np.ndarray | None:
-        """Get the latest angular velocity.
+        """Get the latest angular velocity from ZED IMU.
 
         Returns:
             Angular velocity [x, y, z] in rad/s if available, None otherwise.
@@ -115,7 +122,7 @@ class NineAxisIMUSensor:
         return self._subscriber.get_angular_velocity()
 
     def get_orientation(self) -> np.ndarray | None:
-        """Get the latest orientation quaternion.
+        """Get the latest orientation quaternion from ZED IMU.
 
         Returns:
             Orientation quaternion [x, y, z, w] if available, None otherwise.
@@ -123,13 +130,21 @@ class NineAxisIMUSensor:
         return self._subscriber.get_orientation()
 
     def get_magnetometer(self) -> np.ndarray | None:
-        """Get the latest magnetometer reading.
+        """Get the latest magnetometer reading from ZED IMU.
 
         Returns:
             Magnetic field [x, y, z] in µT if available, None otherwise.
         """
         return self._subscriber.get_magnetometer()
 
+    def has_magnetometer(self) -> bool:
+        """Check if the ZED IMU has magnetometer data available.
+
+        Returns:
+            True if magnetometer data is available, False otherwise.
+        """
+        return self._subscriber.has_magnetometer()
+
     @property
     def fps(self) -> float:
         """Get the current FPS measurement.
@@ -141,7 +156,7 @@ class NineAxisIMUSensor:
 
     @property
     def name(self) -> str:
-        """Get the IMU name.
+        """Get the ZED IMU name.
 
         Returns:
             IMU name string.

dexcontrol/sensors/lidar/__init__.py

@@ -1,3 +1,13 @@
+# Copyright (C) 2025 Dexmate Inc.
+#
+# This software is dual-licensed:
+#
+# 1. GNU Affero General Public License v3.0 (AGPL-3.0)
+#    See LICENSE-AGPL for details
+#
+# 2. Commercial License
+#    For commercial licensing terms, contact: contact@dexmate.ai
+
 from .rplidar import RPLidarSensor
 
-__all__ = ['RPLidarSensor']
+__all__ = ['RPLidarSensor']

dexcontrol/sensors/lidar/rplidar.py

@@ -1,7 +1,12 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# This software is dual-licensed:
+#
+# 1. GNU Affero General Public License v3.0 (AGPL-3.0)
+#    See LICENSE-AGPL for details
+#
+# 2. Commercial License
+#    For commercial licensing terms, contact: contact@dexmate.ai
 
 """LIDAR sensor implementations using Zenoh subscribers.
 

dexcontrol/sensors/manager.py

@@ -1,7 +1,12 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# This software is dual-licensed:
+#
+# 1. GNU Affero General Public License v3.0 (AGPL-3.0)
+#    See LICENSE-AGPL for details
+#
+# 2. Commercial License
+#    For commercial licensing terms, contact: contact@dexmate.ai
 
 """Sensor manager for managing robot sensors with Zenoh communication.
 
@@ -21,10 +26,10 @@ from omegaconf import DictConfig, OmegaConf
 from dexcontrol.config.sensors.vega_sensors import VegaSensorsConfig
 
 if TYPE_CHECKING:
-    from dexcontrol.sensors.camera.gemini_camera import GeminiCameraSensor
     from dexcontrol.sensors.camera.rgb_camera import RGBCameraSensor
-    from dexcontrol.sensors.imu.gemini_imu import GeminiIMUSensor
-    from dexcontrol.sensors.imu.nine_axis_imu import NineAxisIMUSensor
+    from dexcontrol.sensors.camera.zed_camera import ZedCameraSensor
+    from dexcontrol.sensors.imu.chassis_imu import ChassisIMUSensor
+    from dexcontrol.sensors.imu.zed_imu import ZedIMUSensor
     from dexcontrol.sensors.lidar.rplidar import RPLidarSensor
     from dexcontrol.sensors.ultrasonic import UltrasonicSensor
 
@@ -43,13 +48,13 @@ class Sensors:
 
     if TYPE_CHECKING:
         # Type annotations for dynamically created sensor attributes
-        head_camera: GeminiCameraSensor
+        head_camera: ZedCameraSensor
         base_left_camera: RGBCameraSensor
         base_right_camera: RGBCameraSensor
         base_front_camera: RGBCameraSensor
         base_back_camera: RGBCameraSensor
-        base_imu: NineAxisIMUSensor
-        head_imu: GeminiIMUSensor
+        base_imu: ChassisIMUSensor
+        head_imu: ZedIMUSensor
         lidar: RPLidarSensor
         ultrasonic: UltrasonicSensor
 
@@ -87,6 +92,10 @@ class Sensors:
             logger.debug(f"Sensor {name} config is None")
             return None
 
+        if not config.enable:
+            logger.debug(f"Sensor {name} is disabled")
+            return None
+
         if not (hasattr(config, '_target_') and config._target_):
             return None
 
@@ -118,9 +127,13 @@ class Sensors:
             try:
                 if hasattr(sensor, "shutdown"):
                     sensor.shutdown()
+                    # Small delay between each sensor shutdown to prevent race conditions
+                    time.sleep(0.05)
             except Exception as e:
                 logger.error(f"Error shutting down sensor: {e}")
 
+        # Additional delay to ensure all sensor subscribers have been undeclared
+        time.sleep(0.1)
         logger.info("All sensors shut down")
 
     def get_active_sensors(self) -> list[str]:

dexcontrol/sensors/ultrasonic.py

@@ -1,7 +1,12 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# This software is dual-licensed:
+#
+# 1. GNU Affero General Public License v3.0 (AGPL-3.0)
+#    See LICENSE-AGPL for details
+#
+# 2. Commercial License
+#    For commercial licensing terms, contact: contact@dexmate.ai
 
 """Ultrasonic sensor implementations using Zenoh subscribers.
 

dexcontrol/utils/__init__.py

@@ -1,7 +1,12 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# This software is dual-licensed:
+#
+# 1. GNU Affero General Public License v3.0 (AGPL-3.0)
+#    See LICENSE-AGPL for details
+#
+# 2. Commercial License
+#    For commercial licensing terms, contact: contact@dexmate.ai
 
 from .subscribers import (
     BaseZenohSubscriber,

dexcontrol/utils/constants.py

@@ -1,3 +1,13 @@
+# Copyright (C) 2025 Dexmate Inc.
+#
+# This software is dual-licensed:
+#
+# 1. GNU Affero General Public License v3.0 (AGPL-3.0)
+#    See LICENSE-AGPL for details
+#
+# 2. Commercial License
+#    For commercial licensing terms, contact: contact@dexmate.ai
+
 """Constants used throughout the dexcontrol package."""
 
 from typing import Final

dexcontrol/utils/io_utils.py

@@ -1,7 +1,12 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# This software is dual-licensed:
+#
+# 1. GNU Affero General Public License v3.0 (AGPL-3.0)
+#    See LICENSE-AGPL for details
+#
+# 2. Commercial License
+#    For commercial licensing terms, contact: contact@dexmate.ai
 
 from typing import Any
 

dexcontrol/utils/motion_utils.py

@@ -1,7 +1,12 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# This software is dual-licensed:
+#
+# 1. GNU Affero General Public License v3.0 (AGPL-3.0)
+#    See LICENSE-AGPL for details
+#
+# 2. Commercial License
+#    For commercial licensing terms, contact: contact@dexmate.ai
 
 
 import numpy as np

dexcontrol/utils/os_utils.py

@@ -1,10 +1,19 @@
+# Copyright (C) 2025 Dexmate Inc.
+#
+# This software is dual-licensed:
+#
+# 1. GNU Affero General Public License v3.0 (AGPL-3.0)
+#    See LICENSE-AGPL for details
+#
+# 2. Commercial License
+#    For commercial licensing terms, contact: contact@dexmate.ai
+
 """Operating system utility functions."""
 
 import os
+import re
 from typing import Final
 
-from loguru import logger
-
 from dexcontrol.utils.constants import ROBOT_NAME_ENV_VAR
 
 
@@ -23,6 +32,10 @@ def resolve_key_name(key: str) -> str:
     # Remove leading slash if present
     key = key.lstrip("/")
 
+    # Check if robot name is already present at the beginning
+    if key.startswith(f"{robot_name}/"):
+        return key
+
     # Combine robot name and key with single slash
     return f"{robot_name}/{key}"
 
@@ -30,10 +43,16 @@ def resolve_key_name(key: str) -> str:
 def get_robot_model() -> str:
     """Get the robot model from the environment variable."""
     robot_model_abb_mapping = dict(vg="vega")
-    robot_name = os.getenv(ROBOT_NAME_ENV_VAR, "robot")
+    robot_name = os.getenv(ROBOT_NAME_ENV_VAR)
+    if robot_name is None:
+        raise ValueError(
+            f"Robot name is not set, please set the environment variable {ROBOT_NAME_ENV_VAR}"
+        )
+    if not re.match(r"^dm/[a-zA-Z0-9]{12}-(?:\d+|rc\d+)$", robot_name):
+        raise ValueError(f"Robot name is not in the correct format: {robot_name}")
+
     robot_model_abb = robot_name.split("/")[-1].split("-")[0][:2]
     if robot_model_abb not in robot_model_abb_mapping:
         raise ValueError(f"Unknown robot model: {robot_model_abb}")
     model = robot_model_abb_mapping[robot_model_abb] + "-" + robot_name.split("-")[-1]
-    logger.info(f"The current robot model is: {model}")
     return model

dexcontrol/utils/pb_utils.py

@@ -1,7 +1,12 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# This software is dual-licensed:
+#
+# 1. GNU Affero General Public License v3.0 (AGPL-3.0)
+#    See LICENSE-AGPL for details
+#
+# 2. Commercial License
+#    For commercial licensing terms, contact: contact@dexmate.ai
 
 """Utility functions for Python data structures and protobuf messages."""
 

dexcontrol/utils/rate_limiter.py

@@ -1,7 +1,12 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# This software is dual-licensed:
+#
+# 1. GNU Affero General Public License v3.0 (AGPL-3.0)
+#    See LICENSE-AGPL for details
+#
+# 2. Commercial License
+#    For commercial licensing terms, contact: contact@dexmate.ai
 
 """Rate limiter utility for maintaining consistent execution rates."""
 

dexcontrol/utils/rtc_utils.py

@@ -0,0 +1,144 @@
+# Copyright (C) 2025 Dexmate Inc.
+#
+# This software is dual-licensed:
+#
+# 1. GNU Affero General Public License v3.0 (AGPL-3.0)
+#    See LICENSE-AGPL for details
+#
+# 2. Commercial License
+#    For commercial licensing terms, contact: contact@dexmate.ai
+
+"""RTC utilities for dexcontrol.
+
+This module provides utility functions for creating RTC subscribers
+that first query Zenoh for connection information.
+"""
+
+import zenoh
+from loguru import logger
+
+from dexcontrol.utils.subscribers.rtc import RTCSubscriber
+from dexcontrol.utils.zenoh_utils import query_zenoh_json
+
+
+def query_rtc_info(
+    zenoh_session: zenoh.Session,
+    info_topic: str,
+    timeout: float = 2.0,
+    max_retries: int = 1,
+    retry_delay: float = 0.5,
+) -> dict | None:
+    """Query Zenoh for RTC connection information.
+
+    Args:
+        zenoh_session: Active Zenoh session for communication.
+        info_topic: Zenoh topic to query for RTC info.
+        timeout: Maximum time to wait for a response in seconds.
+        max_retries: Maximum number of retry attempts.
+        retry_delay: Initial delay between retries (doubles each retry).
+
+    Returns:
+        Dictionary containing host and port information if successful, None otherwise.
+    """
+
+    # Use the general Zenoh query function
+    info = query_zenoh_json(
+        zenoh_session=zenoh_session,
+        topic=info_topic,
+        timeout=timeout,
+        max_retries=max_retries,
+        retry_delay=retry_delay,
+    )
+
+    return info
+
+
+def create_rtc_subscriber_from_zenoh(
+    zenoh_session: zenoh.Session,
+    info_topic: str,
+    name: str = "rtc_subscriber",
+    enable_fps_tracking: bool = True,
+    fps_log_interval: int = 100,
+    query_timeout: float = 2.0,
+    max_retries: int = 1,
+) -> RTCSubscriber | None:
+    """Create a RTC subscriber by first querying Zenoh for connection info.
+
+    Args:
+        zenoh_session: Active Zenoh session for communication.
+        info_topic: Zenoh topic to query for RTC connection info.
+        name: Name for logging purposes.
+        enable_fps_tracking: Whether to track and log FPS metrics.
+        fps_log_interval: Number of frames between FPS calculations.
+        query_timeout: Maximum time to wait for Zenoh query response.
+        max_retries: Maximum number of retry attempts for Zenoh query.
+
+    Returns:
+        RTCSubscriber instance if successful, None otherwise.
+    """
+    # Query Zenoh for RTC connection information
+    rtc_info = query_rtc_info(zenoh_session, info_topic, query_timeout, max_retries)
+
+    if rtc_info is None:
+        logger.error("Failed to get RTC connection info from Zenoh")
+        return None
+
+    url = rtc_info.get("signaling_url")
+
+    if not url:
+        logger.error(f"Invalid RTC info: url={url}")
+        return None
+
+    # Construct WebSocket URL
+    ws_url = url
+    logger.info(f"Creating RTC subscriber with URL: {ws_url}")
+
+    try:
+        # Create and return the RTC subscriber
+        subscriber = RTCSubscriber(
+            url=ws_url,
+            name=name,
+            enable_fps_tracking=enable_fps_tracking,
+            fps_log_interval=fps_log_interval,
+        )
+        return subscriber
+    except Exception as e:
+        logger.error(f"Failed to create RTC subscriber: {e}")
+        return None
+
+
+def create_rtc_subscriber_with_config(
+    zenoh_session: zenoh.Session,
+    config,
+    name: str = "rtc_subscriber",
+    enable_fps_tracking: bool = True,
+    fps_log_interval: int = 100,
+) -> RTCSubscriber | None:
+    """Create a RTC subscriber using configuration object.
+
+    Args:
+        zenoh_session: Active Zenoh session for communication.
+        config: Configuration object containing info_key.
+        name: Name for logging purposes.
+        enable_fps_tracking: Whether to track and log FPS metrics.
+        fps_log_interval: Number of frames between FPS calculations.
+    Returns:
+        RTCSubscriber instance if successful, None otherwise.
+    """
+    if "info_key" not in config:
+        logger.error("Config subscriber_config missing info_key")
+        return None
+
+    if not config["enable"]:
+        logger.info(f"Skipping {name} because it is disabled")
+        return None
+
+    info_topic = config["info_key"]
+
+    return create_rtc_subscriber_from_zenoh(
+        zenoh_session=zenoh_session,
+        info_topic=info_topic,
+        name=name,
+        enable_fps_tracking=enable_fps_tracking,
+        fps_log_interval=fps_log_interval,
+    )

dexcontrol/utils/subscribers/__init__.py

@@ -1,7 +1,12 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# This software is dual-licensed:
+#
+# 1. GNU Affero General Public License v3.0 (AGPL-3.0)
+#    See LICENSE-AGPL for details
+#
+# 2. Commercial License
+#    For commercial licensing terms, contact: contact@dexmate.ai
 
 """Zenoh subscriber utilities for dexcontrol.
 
@@ -22,6 +27,7 @@ from .generic import GenericZenohSubscriber
 from .imu import IMUSubscriber
 from .lidar import LidarSubscriber
 from .protobuf import ProtobufZenohSubscriber
+from .rtc import RTCSubscriber
 
 __all__ = [
     "BaseZenohSubscriber",
@@ -41,4 +47,6 @@ __all__ = [
     "LidarSubscriber",
     # IMU subscriber
     "IMUSubscriber",
+    # RTC subscriber
+    "RTCSubscriber",
 ]

dexcontrol/utils/subscribers/base.py

@@ -1,7 +1,12 @@
-# Copyright (c) 2025 Dexmate CORPORATION & AFFILIATES. All rights reserved.
+# Copyright (C) 2025 Dexmate Inc.
 #
-# Licensed under the Apache License, Version 2.0 with Commons Clause License
-# Condition v1.0 [see LICENSE for details].
+# This software is dual-licensed:
+#
+# 1. GNU Affero General Public License v3.0 (AGPL-3.0)
+#    See LICENSE-AGPL for details
+#
+# 2. Commercial License
+#    For commercial licensing terms, contact: contact@dexmate.ai
 
 """Base Zenoh subscriber utilities.
 
@@ -193,8 +198,24 @@ class BaseZenohSubscriber(ABC):
 
     def shutdown(self) -> None:
         """Stop the subscriber and release resources."""
-        if hasattr(self, "_subscriber") and self._subscriber:
-            self._subscriber.undeclare()
+        # Mark as inactive first to prevent further data processing
+        with self._data_lock:
+            self._active = False
+
+        # Small delay to allow any ongoing data processing to complete
+        time.sleep(0.05)
+
+        try:
+            if hasattr(self, "_subscriber") and self._subscriber:
+                self._subscriber.undeclare()
+        except Exception as e:
+            # Don't log "Undeclared subscriber" errors as warnings - they're expected during shutdown
+            error_msg = str(e).lower()
+            if not ("undeclared" in error_msg or "closed" in error_msg):
+                logger.warning(f"Error undeclaring subscriber for {self._topic}: {e}")
+
+        # Additional delay to allow Zenoh to process the undeclare operation
+        time.sleep(0.02)
 
     @property
     def topic(self) -> str: