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tu-darmstadt-ros-pkg / hector_quadrotor

hector_quadrotor contains packages related to modeling, control and simulation of quadrotor UAV systems.
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Remove redundant callback queue in twist_controller #23

Closed paulbovbel closed 9 years ago

paulbovbel commented 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.

paulbovbel commented 9 years ago

Also fixed:

typo - https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor/pull/23/files#diff-dbdefca572e17c62e1a007b3f7a6032dR105

paulbovbel commented 9 years ago

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.