From 97396fd91324e9e961f061544e80a208889526ff Mon Sep 17 00:00:00 2001
From: Yifeng Zhu <yifeng.zhu@utexas.edu>
Date: Thu, 23 May 2024 08:48:13 -0500
Subject: [PATCH] Limit zmq buffer to 1 and fix the commit for spdlog

---
 deoxys/InstallPackage                           | 3 +++
 deoxys/franka-interface/src/utils/zmq_utils.cpp | 1 +
 2 files changed, 4 insertions(+)

diff --git a/deoxys/InstallPackage b/deoxys/InstallPackage
index 433b5d4..8c6ebcc 100755
--- a/deoxys/InstallPackage
+++ b/deoxys/InstallPackage
@@ -35,6 +35,9 @@ git clone https://github.com/jbeder/yaml-cpp.git
 
 # download spdlog package
 git clone https://github.com/gabime/spdlog.git
+cd spdlog
+git checkout ac55e60488032b9acde8940a5de099541c4515da
+cd ..
 
 # download protobuf
 git clone --recursive https://github.com/protocolbuffers/protobuf.git
diff --git a/deoxys/franka-interface/src/utils/zmq_utils.cpp b/deoxys/franka-interface/src/utils/zmq_utils.cpp
index 019946c..cbed4a0 100644
--- a/deoxys/franka-interface/src/utils/zmq_utils.cpp
+++ b/deoxys/franka-interface/src/utils/zmq_utils.cpp
@@ -19,6 +19,7 @@ ZMQSubscriber::ZMQSubscriber(std::string ip, std::string port,
                              std::string filter)
     : subscriber_socket_(context_, zmqpp::socket_type::subscribe) {
   sub_host_ = "tcp://" + ip + ":" + port;
+  subscriber_socket_.set(zmqpp::socket_option::conflate, 1);
   subscriber_socket_.subscribe(filter);
   subscriber_socket_.connect(sub_host_);
 };