Throttling commands to base from arm controller write function

[tpatten]

Throttling commands to move base within the write function. No longer need the second call back function. Works with the Vienna robot, @lokalmatador we can test this tomorrow with the Innsbruck robot.

[ghost]

Yep, already sitting next to the little cyber buddy preparing things for the meeting (which is updating and compiling). Are there any special branches I need to run things?

[ipa-nhg]

tested and working?

[tpatten]

We ended up making other changes to the arm controller so I think this is now obsolete. @lokalmatador should we still try to throttle the commands, or can we safely assume that any array of inputs are published to twist mux at an acceptable rate? So far the hardware tests have been fine .

[ghost]

I guess it's fine the way it is. After all, I assume it was not even related to throttling or not, just the fact that ROS control executed it's natural behavior by approaching the last set point. I'll create the merge request tomorrow after cleaning the code.

[tpatten]

We still had the issue of sending only the first base destination from any command. But that is fixed now.

[ghost]

So I can create the pull request, right?

[tpatten]

If you mean what we had working yesterday then yes.

[ghost]

Exactly.

[ipa-nhg]

out-of-date , updated by https://github.com/squirrel-project/squirrel_driver/pull/164