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planning_scene_monitor: fix state update bug #408
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The rate of state updates is limited to dt_state_update_ per second. When an update arrived it was not processed if another was recently processed. This meant that if a quick sequence of state updates arrived and then no updates arrive for a while that the last update(s) were not seen until another arrives (which may be much later or never). This fixes the bug by periodically checking for pending updates and running them if they have been pending longer than dt_state_update_.
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| /// True when we need to update the RobotState from current_state_monitor_ | ||
| // This field is protected by state_pending_mutex_ | ||
| volatile bool state_update_pending_; |
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The volatile keyword sometimes does different things on different architectures. I am not sure we even need it.
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Excellent fix! +1 |
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Verified the fix on my system...+1 |
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The rate of state updates is limited to dt_state_update_ per second.
When an update arrived it was not processed if another was recently
processed. This meant that if a quick sequence of state updates
arrived and then no updates arrive for a while that the last update(s)
were not seen until another arrives (which may be much later or
never). This fixes the bug by periodically checking for pending
updates and running them if they have been pending longer than
dt_state_update_.
Fixes issue #405 (replaces pull request #407)