fix(hardware): transport adapters follow the active pub/sub backend - #4070
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Since Zenoh became the default (#3617), blueprint-pinned LCMTransports are coerced to Zenoh, but the transport_lcm twist and whole-body adapters still built raw LCMTransports. The coordinator published cmd_vel on LCM while GO2Connection listened on Zenoh, so the Go2 ignored every command with no error; G1 has the same split. Both adapters now default to make_transport, which R1 Pro had already opted into per blueprint.
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Since #3617 made Zenoh the default,
_coerce_transport_to_backendrewrites blueprint-pinnedLCMTransports to Zenoh, but thetransport_lcmtwist and whole-body adapters built rawLCMTransports themselves.So the coordinator sent
/go2/cmd_velover LCM whileGO2Connectionlistened on Zenoh, and odom was split the other way: the Go2 ignored every teleop and path command without any error.Both adapters now default to
make_transport, so they follow the global backend the same way the driver side does. R1 Pro had already opted into that per blueprint, so its override goes. The G1 coordinator had the same split.Checked with a Zenoh round trip between the adapter and a coerced driver-side transport; tested on hardware.