Robot sometimes crashes with an error stating the command sent to the robot has a distant end-time .. far off into the future and crashes code execution

[KavitShah1998]

!!!!!!Slow mode!!!!!!
raw_base_ac: [-0.25, 0.40]  raw_arm_ac: [0.00, 0.00, 0.00, 0.00]
base_action: [-0.06, 0.00, 0.10]    arm_action: None
DETECTIONS STR
None
policy_inference: 0.0065 run_actions: 0.7089 get_observations: 0.0066 total: 0.7219
gater: nav  corrective: 0.007, 0.011, 0.002, 0.048
!!!!!!Slow mode!!!!!!
raw_base_ac: [-0.43, -0.46] raw_arm_ac: [0.00, 0.00, 0.00, 0.00]
Traceback (most recent call last):
  File "/home/akshara/miniconda3/envs/spot_ros/lib/python3.8/runpy.py", line 194, in _run_module_as_main
    return _run_code(code, main_globals, None,
  File "/home/akshara/miniconda3/envs/spot_ros/lib/python3.8/runpy.py", line 87, in _run_code
    exec(code, run_globals)
  File "/home/akshara/asc_demo/spot-sim2real/spot_rl_experiments/spot_rl/envs/mobile_manipulation_env.py", line 395, in <module>
    main(spot, args.use_mixer, config, args.output)
  File "/home/akshara/asc_demo/spot-sim2real/spot_rl_experiments/spot_rl/envs/mobile_manipulation_env.py", line 104, in main
    observations, _, done, info = env.step(
  File "/home/akshara/asc_demo/spot-sim2real/spot_rl_experiments/spot_rl/envs/mobile_manipulation_env.py", line 278, in step
    observations, reward, done, info = SpotBaseEnv.step(
  File "/home/akshara/asc_demo/spot-sim2real/spot_rl_experiments/spot_rl/envs/base_env.py", line 331, in step
    self.spot.set_base_velocity(
  File "/home/akshara/asc_demo/spot-sim2real/bd_spot_wrapper/spot_wrapper/spot.py", line 428, in set_base_velocity
    cmd_id = self.command_client.robot_command(
  File "/home/akshara/miniconda3/envs/spot_ros/lib/python3.8/site-packages/bosdyn/client/robot_command.py", line 324, in robot_command
    return self.call(self._stub.RobotCommand, req, _robot_command_value, _robot_command_error,
  File "/home/akshara/miniconda3/envs/spot_ros/lib/python3.8/site-packages/bosdyn/client/common.py", line 237, in processor
    return func(self, rpc_method, request, value_from_response=value_from_response,
  File "/home/akshara/miniconda3/envs/spot_ros/lib/python3.8/site-packages/bosdyn/client/common.py", line 362, in call
    return self.handle_response(response, error_from_response, value_from_response)
  File "/home/akshara/miniconda3/envs/spot_ros/lib/python3.8/site-packages/bosdyn/client/common.py", line 370, in handle_response
    raise exc  # pylint: disable=raising-bad-type
bosdyn.client.robot_command.TooDistantError: bosdyn.api.RobotCommandResponse (TooDistantError): The command end time was too far in the future.
/home/akshara/miniconda3/envs/spot_ros/lib/python3.8/site-packages/rospy/core.py:146: DeprecationWarning: The 'warn' method is deprecated, use 'warning' instead
  _rospy_logger.warn(msg, *args, **kwargs)
/home/akshara/miniconda3/envs/spot_ros/lib/python3.8/site-packages/rospy/core.py:598: DeprecationWarning: isAlive() is deprecated, use is_alive() instead
  if t.isAlive():
(spot_ros) akshara@akshara-laptop:~/asc_demo/spot-sim2real$ ^C

Observed while running ASC (so far)

[SergioArnaud]

This is because connection is slow