Closed paulbovbel closed 9 years ago
As per ros_control API, the realtime safe methods are starting(), stopping(), and update().
Otherwise, ROS comms are safe to use the callback queue provided by root_nh (or controller_nh), and an additionall callback queue is unnecessary.
Pardon the whitespace fixes, aligned to ROS standard.
Also fixed:
typo - https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor/pull/23/files#diff-dbdefca572e17c62e1a007b3f7a6032dR105
The update functions are still not-realtime safe due to the locking on commandmutex, so the interthread communication should be moved to using ros_control's RealtimeBuffer system if realtime is a necessity.
As per ros_control API, the realtime safe methods are starting(), stopping(), and update().
Otherwise, ROS comms are safe to use the callback queue provided by root_nh (or controller_nh), and an additionall callback queue is unnecessary.
Pardon the whitespace fixes, aligned to ROS standard.