If the allocator receives multiple identical rov_forces messages in a row, it currently only publishes thruster_forces only for the first of the identical messages.
I don't think this is the desired behaviour. It was probably done at some point for performance reasons, but I suggest removing this feature so that one message in always causes one message out.
Actually I think the reason was that out manipulator code was very CPU heavy, and we usually used the manipulators only when not using the thrusters, so this feature would avoid taking resources away from the manipulators.
If the allocator receives multiple identical
rov_forces
messages in a row, it currently only publishesthruster_forces
only for the first of the identical messages.See https://github.com/vortexntnu/rov-control/blob/32ac0de16fb7b2aa430bf051ce8a843192619a7d/vortex_allocator/src/allocator_ros.cpp#L81
I don't think this is the desired behaviour. It was probably done at some point for performance reasons, but I suggest removing this feature so that one message in always causes one message out.
Actually I think the reason was that out manipulator code was very CPU heavy, and we usually used the manipulators only when not using the thrusters, so this feature would avoid taking resources away from the manipulators.