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plusone-robotics / moveit_simple

A wrapper around MoveIt that enables more traditional industrial robot programming.
Apache License 2.0
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Robot Base class mutex #80

Open mlautman opened 5 years ago

mlautman commented 5 years ago

I am working to split the trajectory functionality out of the robot class and into it's own class. I noticed that the mutex strategy currently blocks this as the same mutex is used for the Robot functionality as is used by the Trajectory construction and planning.

I am not sure I understand the mutex strategy here. 1) Why does Robot, (a class that doesn't have any subscriptions) need a mutex? 2) Why doesn't the online robot class (which does have subscriptions) not use a mutex.

This seems like something we could address rather quickly but I wanted to check to see if I was missing anything before I invested time in a resolution

shaun-edwards commented 5 years ago

Why does Robot, (a class that doesn't have any subscriptions) need a mutex?

This is probably an artifact from when when Robot and Online Robot were the same class.

Why doesn't the online robot class (which does have subscriptions) not use a mutex.

Again probably an oversight. Does Online Robot require/assume a multi-threaded ROS spinner?