❤️ (VCS/VTC) TAP Step Method may cause data collected in a burst

[OppaAI]

⚠️ Issue: Temporal Alias & Fixed-Loop Coupling

Your current setup relies on a manually managed loop (bin.run), which is vulnerable to Clock Drift and won't sync with ROS bags or simulations. If the system lags, your "10Hz" pump might actually be running at 7Hz, and your data gets squashed like a bug on a windshield.

🎯 Location:

/robot/vtc/run_pump_cycle
/robot/vtc/pump.py

🩺 Diagnosis:

• Blocking Operations: Manual while loops or time.sleep() calls prevent the ROS 2 executor from handling other threads (like your Display or Regulator) efficiently. Moving to create_timer allows the ROS executor to schedule these cycles precisely, even when use_sim_time is set to true.

💡 Proposal:

The Multi-Frequency ROS Timer Strategy

• Scrap the single bin.run and create three independent ROS timers. This ensures that a slow "LO" flow harvest (like checking the battery) never delays your critical "HI" flow (the CPU pulse).