Same message is received continuously.

[amalshaji4540]

Issue template

• Hardware description:ESP32 Platform.io is used for building and flashing ROS distro : ROS2 humble

I am working on a differential drive wheeled robot. teleop_twist_keyboard is used for sending the twist messages. I had created subscriber on topic cmd_vel using micro ros on ESP32. The messege is subscribed successfully. But the issue is when I send messages continuously at high frequency ( I press the key on teleop twist keyboard with out taking my finger ). The message received doesn't changes, same message is received at ESP32 if I send another message from telop twist keyboard.

This issue occur only when I send message at a high rate. Otherwise everything works as expected.

Is there any ways to get last sent message.

[pablogs9]

Are you subscribing in best effort?

[amalshaji4540]

No, I am subscribing in default

RCCHECK(rclc_subscription_init_default( &subscriber, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(geometry_msgs, msg, Twist), "cmd_vel"));

[pablogs9]

It is probably a good idea to move to best effort if you are publishing on a topic with a high rate.

[amalshaji4540]

Okey, thank you. I will try it out.

[amalshaji4540]

@pablogs9 Thank you for the advice. Best effort works really well.

[pablogs9]

Good to hear that!