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PickNikRobotics / ros_control_boilerplate

Provides a simple simulation interface and template for setting up a hardware interface for ros_control
BSD 3-Clause "New" or "Revised" License
244 stars 89 forks source link

refactor GenericHWControlLoop to a sleep-based loop #20

Closed mathias-luedtke closed 6 years ago

mathias-luedtke commented 6 years ago

using ros:Timer (= ROS callbacks) might lead to deadlocks, as reported and discussed in https://github.com/ros-controls/ros_control/issues/265

I am aware that this breaks the API. As an alternative another thread could be spawed in the GenericHWControlLoop constructor, but this feels just wrong ;)

davetcoleman commented 6 years ago

Sorry for the delay in merging this, looks good to me!