in rtde.cpp, in this section of code: ```cpp if (buffer_.size() >= HEADER_SIZE && packet_header.msg_cmd == RTDE_DATA_PACKAGE) { RTDEControlHeader next_packet_header = RTDEUtility::readRTDEHeader(buffer_, message_offset); if (next_packet_header.msg_cmd == RTDE_DATA_PACKAGE) { if (verbose_) std::cout << "skipping package(1)" << std::endl; continue; } } ``` Here `RTDEUtility::readRTDEHeader(buffer_, message_offset);`, message_offset is probably the issue, because it's value is not 0. Using this modification, fix the problem, and sometimes "expired" package are really discarded. ```cpp uint32_t next_message_offset = 0; RTDEControlHeader next_packet_header = RTDEUtility::readRTDEHeader(buffer_, next_message_offset); ``` (need a temporary due to ref used in readRTDEHeader)