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src/tron_adapter.cpp

@@ -149,9 +149,11 @@ void TRON_Adapter::get_error_msg(int32_t errorcode) {
 void TRON_Adapter::add_var_to_channel(Channel& chan, bool is_input, std::string var) {
     bool var_already_declared = false;
     for (Mapping& map : mappings)
-        if (std::find(map.channel.vars.begin(), map.channel.vars.end(), var) != map.channel.vars.end()) var_already_declared = true;
+        if (chan.name == map.channel.name)
+            if (std::find(map.channel.vars.begin(), map.channel.vars.end(), var) != map.channel.vars.end()) var_already_declared = true;
     if (var_already_declared) {
         ROS_INFO("variable %s was already declared to channel %s", var.c_str(), chan.name.c_str());
+        chan.vars.push_back(var);
         return;
     }
     byte msg[6 + var.length()];