[rviz_tactile_plugin] contact_state display of "all taxels" is inconsistent

[guihomework]

I tried the tactile_merger new feature to use the no_clustering ROS_NAMESPACE=rh rosrun tactile_merger tactile_merger _no_clustering:=true

and used the shadow hand + its UBI tip (used gazebo as a producer for rsp+jsp + loading the urdf). was faster for me. roslaunch agni_deploy hand.launch

produced some fake data with all tactile element at maximum value of 1.0

rostopic pub /rh/tactile_states tactile_msgs/TactileState -s -r 10 "header:
  seq: 0
  stamp: now
  frame_id: 'rh/rh_ffdistal'
sensors: 
  - 
    name: "rh_ffdistal"
    values: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]"

to finally display this in rviz. I expect 1 arrow per taxel, so 12 arrows. However it is not the case and I see a different set of arrows every time I deactivate/reactivate the plugin in rviz

I believe the contact_states are all there see the collapsed copy-paste, but maybe adding an id at the end of the name is confusing the display ?

contact states rostopic ouput

``` contacts: - header: seq: 0 stamp: secs: 1558 nsecs: 918000000 frame_id: "rh_ffdistal" name: "rh_ffdistal_0" position: x: 0.0042 y: -0.0062 z: 0.0146 normal: x: 0.373828955224 y: -0.923334188309 z: 0.0877831927893 wrench: force: x: -0.373828955224 y: 0.923334188309 z: -0.0877831927893 torque: x: -0.012936423354 y: -0.00508921333655 z: 0.00156026406851 - header: seq: 0 stamp: secs: 1558 nsecs: 918000000 frame_id: "rh_ffdistal" name: "rh_ffdistal_1" position: x: 0.0086 y: 0.0005 z: 0.0132 normal: x: 0.998969699485 y: -0.0326779574079 z: 0.0314911195628 wrench: force: x: -0.998969699485 y: 0.0326779574079 z: -0.0314911195628 torque: x: -0.000447094597566 y: -0.012915576405 z: 0.00078051528345 - header: seq: 0 stamp: secs: 1558 nsecs: 918000000 frame_id: "rh_ffdistal" name: "rh_ffdistal_2" position: x: 0.0083 y: 0.0007 z: 0.0195 normal: x: 0.995437947817 y: -0.0371470644981 z: 0.0878828063107 wrench: force: x: -0.995437947817 y: 0.0371470644981 z: -0.0878828063107 torque: x: -0.000785885722131 y: -0.0186816126901 z: 0.00100512719881 - header: seq: 0 stamp: secs: 1558 nsecs: 918000000 frame_id: "rh_ffdistal" name: "rh_ffdistal_3" position: x: 0.0035 y: -0.005 z: 0.0239 normal: x: 0.366010911819 y: -0.893475408353 z: 0.260264686615 wrench: force: x: -0.366010911819 y: 0.893475408353 z: -0.260264686615 torque: x: -0.0200527388266 y: -0.00783673438932 z: 0.00129710937014 - header: seq: 0 stamp: secs: 1558 nsecs: 918000000 frame_id: "rh_ffdistal" name: "rh_ffdistal_4" position: x: 0.0027 y: 0.0006 z: 0.0303 normal: x: 0.352136494502 y: -0.13783813449 z: 0.925743235417 wrench: force: x: -0.352136494502 y: 0.13783813449 z: -0.925743235417 torque: x: -0.0047319414163 y: -0.00817022904779 z: 0.000583444859824 - header: seq: 0 stamp: secs: 1558 nsecs: 918000000 frame_id: "rh_ffdistal" name: "rh_ffdistal_5" position: x: 0.0071 y: 0.001 z: 0.0259 normal: x: 0.923019275018 y: -0.0631404280814 z: 0.379537487328 wrench: force: x: -0.923019275018 y: 0.0631404280814 z: -0.379537487328 torque: x: -0.00201487457464 y: -0.0212114830629 z: 0.0013713163144 - header: seq: 0 stamp: secs: 1558 nsecs: 918000000 frame_id: "rh_ffdistal" name: "rh_ffdistal_6" position: x: -0.0071 y: 0.001 z: 0.0259 normal: x: -0.923019738848 y: -0.0631336472015 z: 0.379537487328 wrench: force: x: 0.923019738848 y: 0.0631336472015 z: -0.379537487328 torque: x: -0.00201469894985 y: 0.0212114950761 z: -0.00137126863398 - header: seq: 0 stamp: secs: 1558 nsecs: 918000000 frame_id: "rh_ffdistal" name: "rh_ffdistal_7" position: x: -0.0027 y: 0.0006 z: 0.0303 normal: x: -0.352137507108 y: -0.137835547547 z: 0.925743235417 wrench: force: x: 0.352137507108 y: 0.137835547547 z: -0.925743235417 torque: x: -0.00473186303193 y: 0.00817025972975 z: -0.000583438482642 - header: seq: 0 stamp: secs: 1558 nsecs: 918000000 frame_id: "rh_ffdistal" name: "rh_ffdistal_8" position: x: -0.0035 y: -0.005 z: 0.0239 normal: x: -0.366017475646 y: -0.893472719462 z: 0.260264686615 wrench: force: x: 0.366017475646 y: 0.893472719462 z: -0.260264686615 torque: x: -0.0200526745621 y: 0.00783689126478 z: -0.00129706713989 - header: seq: 0 stamp: secs: 1558 nsecs: 918000000 frame_id: "rh_ffdistal" name: "rh_ffdistal_9" position: x: -0.0083 y: 0.0007 z: 0.0195 normal: x: -0.995438220688 y: -0.0371397516016 z: 0.0878828063107 wrench: force: x: 0.995438220688 y: 0.0371397516016 z: -0.0878828063107 torque: x: -0.000785743120649 y: 0.018681618011 z: -0.00100506669277 - header: seq: 0 stamp: secs: 1558 nsecs: 918000000 frame_id: "rh_ffdistal" name: "rh_ffdistal_10" position: x: -0.0086 y: 0.0005 z: 0.0132 normal: x: -0.998969939523 y: -0.0326706185658 z: 0.0314911195628 wrench: force: x: 0.998969939523 y: 0.0326706185658 z: -0.0314911195628 torque: x: -0.00044699772485 y: 0.0129155795735 z: -0.000780452289428 - header: seq: 0 stamp: secs: 1558 nsecs: 918000000 frame_id: "rh_ffdistal" name: "rh_ffdistal_11" position: x: -0.0042 y: -0.0062 z: 0.0146 normal: x: -0.373835738405 y: -0.923331441983 z: 0.0877831927893 wrench: force: x: 0.373835738405 y: 0.923331441983 z: -0.0877831927893 torque: x: -0.0129363832577 y: 0.005089312371 z: -0.00156021047822 ```