Closed jsupratman13 closed 1 year ago
This is what happens when we use vesc_hw_interface with combined hardware interface
Both wheel joints should be 0.0 on initialization, but the image shows different values.
The problem is probably here https://github.com/sbgisen/vesc/blob/f8d522070c3a44035a2e4a76c029da9296adf1de/vesc_driver/src/vesc_packet.cpp#L282-L287
Static variables are shared between threads which is not ideal for this particular case. We should have independent variables for threads.
Abstract
This is what happens when we use vesc_hw_interface with combined hardware interface
Both wheel joints should be 0.0 on initialization, but the image shows different values.
The problem is probably here https://github.com/sbgisen/vesc/blob/f8d522070c3a44035a2e4a76c029da9296adf1de/vesc_driver/src/vesc_packet.cpp#L282-L287
Static variables are shared between threads which is not ideal for this particular case. We should have independent variables for threads.