Hi, I am working on a project that involves using the mc_att_control, angular_velocity_controller, and control_allocation modules. I have noticed that sometimes the angular velocity controller receives old uorb rate_setpoint messages. For instance, it will be receiving messages with timestamps marked every 3ms or so and then it will suddenly receive a message from 60 ms earlier than the most recent timestamp. I am sending attitude setpoints via ROS2/RTPSbridge and I wonder whether this would have anything to do with it. Does anybody have any thoughts?
By the way, this is happening in SITL testing.