Message queue not served @ controller rate = 100 Hz

[pattacini]

We have experienced big problems while controlling reaching with a rate of 100 Hz (i.e. sample period Ts = 0.01 s). What happened was that the internal messages queue got increasing and, as result, the movements got delayed of significant amount of time.

By changing Ts = 0.1 s, we improved the situation, even though a rate of 10 Hz is way low...

cc @randaz81 @barbalberto @ale-git

[barbalberto]

This was related to issue #45, and thus solved by 2d5ecd0.

In general case, we see this problem when a positionMove or setPosition are called on tripodMotionControl at "high" rate.
As a rule of thumb, if this error happens again on CER robot, then verify that the code is not calling a loop over single joint for tripod device or position command are not sent at too high frequency.

[pattacini]

I deem we can close it for now.