[Greg McKaskle]

Using FMS Lite, we were unable to reproduce lag using either video or video back to the PC.

Oddly enough, we did sometimes see quite a lot of lag reported at the FMS. Running from source, we were able to see that the FMS value was correct, and ultimately this is related to the I/O board attachment. At this point, I think we can safely say that the lag exists on the status leg of the control loop and has very little affect on the control packets that control the robot. We are still looking into how the I/O driver is causing UDP delay.

Greg McKaskle