I am getting the sensor (s) data from to the Xavier as follows: A dedicated microcontroller reads it from each of the sensors and dumps them to the CAN0. It does this indefinitely at 250kbps.
The transceiver between the Jetson and the controller, helps Jetson avail these values. I fetch them whenever needed. Now, I am experiencing delay of 1-2s in the sensor values. Actually, its latency, as my sensors are 1D lidars that return distance in mm. i.e., I get the measurements made 1-2s ago.
I am doubtful that there are duplicates on the CAN0. If all my CAN IDs are unique (I can confirm), is it possible that there exist two data packets with same ID (say 111 and 111) but with different data (100 and 200) ? In this case, I may be reading the previous value. If NO, what possibilities do arise ?