fix: configurable ping endpoint frequency and better goal completion detection

src/control_backend/api/v1/endpoints/robot.py

@@ -123,7 +123,7 @@ async def ping_stream(request: Request):
         sub_socket.setsockopt(zmq.SUBSCRIBE, b"ping")
         connected = False
 
-        ping_frequency = 2
+        ping_frequency = settings.behaviour_settings.sleep_s + 1
 
         # Even though its most likely the updates should alternate
         # (So, True - False - True - False for connectivity),