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Setting so.transport_hints = ros::TransportHints().unreliable(); solved this

ros::SubscribeOptions so =
        ros::SubscribeOptions::create<std_msgs::Bool>(
          "/victim/"+this->model->GetName(),
          1,
          boost::bind(&VictimPlugin::OnRosMsg, this, _1),
          ros::VoidPtr(), &this->rosQueue);

      so.transport_hints = ros::TransportHints().unreliable();

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