diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp
index a1e125d..046a85c 100644
--- a/src/CommunicationManager.cpp
+++ b/src/CommunicationManager.cpp
@@ -44,7 +44,7 @@ namespace Xbee
 //*****************************************************************************
 CommunicationManager::CommunicationManager():
 	START_DLIMITER(static_cast<unsigned char>(0x7E)),
-	LOOP_RATE(20) /* 10 fps */
+	LOOP_RATE(10) /* 10 fps */
 {
 }
 
@@ -170,13 +170,10 @@ void CommunicationManager::Run_In_Swarm_Mode()
 	
 		ros::Rate loop_rate(LOOP_RATE);
 		counter=0;
-		
 		while (ros::ok())
 		{
 			Check_In_Messages_and_Transfer_To_Topics();
 			Send_multi_msg();
-			//if(counter==10) {test_1=5;}
-			//else counter++;
 			ros::spinOnce();
 	    		loop_rate.sleep();
 		}
@@ -375,20 +372,19 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
 {
 	std::size_t size_in_messages = in_messages_->Get_Size();
 	uint16_t* header;
-	//if(!multi_msgs_receive.empty()) steps++;
-	if(steps>200){ 
-		steps=0;
-		multi_msgs_receive.clear();
-		receiver_cur_checksum=0;
-	}
-	/*T0 overcome mesages after the stop transmission of multi packet*/
-	if(counter!=0){
-	 multi_msgs_receive.clear();
-	 counter--;
-	}
 	if (size_in_messages > 0)
 	{
-		
+		/*if(!multi_msgs_receive.empty()) steps++;
+		  if(steps>500){ 
+			steps=0;
+			multi_msgs_receive.clear();
+			receiver_cur_checksum=0;
+		}*/
+		/*T0 overcome mesages after the stop transmission of multi packet*/
+		if(counter!=0){
+		 multi_msgs_receive.clear();
+		 counter--;
+		}
 		uint64_t current_int64 = 0;
 		for (std::size_t j = 0; j < size_in_messages; j++)
 		{
@@ -402,26 +398,10 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
 			tot+=sizeof(uint64_t);
 			/*sscanf(in_message->c_str(), "%" PRIu64 " ",
 							&current_int64);*/
-			std::cout<<in_message<< std::endl;
+			//std::cout<<in_message<< std::endl;
 			header = u64_cvt_u16(current_int64);
 			//std::cout << "Received header" <<header[0]<<"  "<<header[1]<<"  "<<header[2]<<"  "<<header[3]<<"  "<< std::endl;	
 			/*Check header for msgs or ack msg */
-			char temporary_buffer[20];
-			std::string frame;
-					
-			/*if(current_int64 <= 3){
-  				Generate_Transmit_Request_Frame(in_message->c_str(), &frame,sizeof(uint64_t) * );
-				serial_device_.Send_Frame(frame);
-			}
-			if(current_int64 == (uint64_t)device_id ){
-				
-				gettimeofday(&t2, NULL);
-				double time_spent =   (t2.tv_sec - t1.tv_sec) * 1000.0; //(double)(end - begin) / CLOCKS_PER_SEC;
-				time_spent += (t2.tv_usec - t1.tv_usec) / 1000.0;
-				std::cout<<"Time taken for send and receive : "<<time_spent<<std::endl;	
-				test_1=1;
-				
-			}*/
 			if(header[0]==(uint16_t)MESSAGE_CONSTANT){
 				if(header[3]==1 && header[1]>1 && header[2]==1){
 					/*copy msg size*/
@@ -453,8 +433,8 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Topics()
 				else if (header[3]>1 && header[1]>1){
 					
 					/*multimsg received send ack msg*/
-					//char temporary_buffer[20];
-					//std::string frame;
+					char temporary_buffer[20];
+					std::string frame;
 					std::cout << "Multi msg Received header " <<header[0]<<"  "<<header[1]<<"  "<<header[2]<<"  "<<header[3]<<"  "<< std::endl;
 					if (header[2]==1){
 					//std::cout << "first message" << std::endl;
@@ -804,22 +784,7 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
 }
 
 void CommunicationManager::Send_multi_msg(){
-	/*if(test_1>0){
-	test_1--;
-	char temporary_buffer[sizeof(uint64_t) * 5];
-	std::string frame;
-	uint64_t constant_msg[3];
-	constant_msg[1]=245253253253532;
-	constant_msg[2]=245253253253532;
-	constant_msg[3]=245253253253532;
-	constant_msg[0]=(uint64_t) device_id;
-	constant_msg[4]=(uint64_t) test_t;
-	gettimeofday(&t1, NULL);
-	/*Copy the data to char buff*/
-	/*memcpy((void*)temporary_buffer,(void*)constant_msg,sizeof(uint64_t) * 5);
-	Generate_Transmit_Request_Frame(temporary_buffer, &frame,sizeof(uint64_t) * 5);
-	multi_msgs_send_dict.push_back(frame);
-	}*/
+
 	if( !( multi_msgs_send_dict.empty() ) ){
 		/*If the sent message chunk not the last message then send else clear the dict*/
 		if( (uint16_t)(multi_msgs_send_dict.size() ) - 1 == sending_chunk_no && (uint16_t)ack_received_dict.size() == (uint16_t)(no_of_dev)-1){