Liucong worked on the moveit/moveit2 repository, focusing on enhancing real-time timing accuracy for robotics applications. By replacing rclcpp::Rate with rclcpp::WallRate, Liucong shifted timing mechanisms to rely on wall-clock time, which improved determinism and reduced jitter in control loops. This change increased the reliability and stability of time-critical paths in robotic systems. The work demonstrated strong proficiency in C++ development and real-time systems, leveraging ROS 2 and rclcpp APIs for performance-oriented refactoring. Although no bugs were fixed during this period, Liucong’s contribution laid the foundation for further real-time optimizations and improved maintainability within moveit2.