From c6ac7a35df1a1d7971ecc4860446906f70d8a46a Mon Sep 17 00:00:00 2001
From: CS <christoph.schroeter1@mailbox.tu-dresden.de>
Date: Sat, 14 Aug 2021 21:33:41 +0200
Subject: [PATCH]

---
 src/tron_adapter.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/tron_adapter.cpp b/src/tron_adapter.cpp
index 08b5bc8..995eac4 100644
--- a/src/tron_adapter.cpp
+++ b/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()];
-- 
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