There are two scenarios of sensor data reporting on the robot.
Scenario 1: As a result of the last command, the iRobot acquires sensor data.
The nerves reports the sensor data to the brain over message queue. The brain
reports the sensor data to the supervisor over network.
Scenario 2: As a result of the last command, the iRobot does not acquire any
sensor data. The nerves DO NOT report any sensor data to the brain over
message queue. The brain creates an empty sensor data packet '0000000000 +
timestamp' to send to the supervisor over network.
These two scenarios are asymmetrical. It may be worthwhile to investigate the
performance hit (if any) of making these two scenarios symmetrical. That is,
in both cases, have the nerves convey sensor data over the message queue, even
if no sensor event occurred.
Original issue reported on code.google.com by
tanya.crenshawon 29 Jun 2013 at 8:20