fix threading bug in point head controller

ZebraDevs / robot_controllers

Robot control infrastructure

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fix threading bug in point head controller #62

Closed mikeferguson closed 4 years ago

mikeferguson commented 4 years ago

adds locks to prevent an invalid goal transition
moves most of handle_goal to a thread to avoid deadlock
also fixes bug where a successful goal would be marked aborted if the stop_on_action flag were set true

mikeferguson commented 4 years ago

@erelson pretty sure there is a similar issue with FollowJointTrajectory controller - plan to address that shortly, but as I added a tilting head to navigation, found this controller died quite quickly.