RobotState rviz previewer: First message from e.g. latching publishers is not applied to robot state correctly

[axelschroth]

Fixes #595

Note: I am not familiar with the problems that leaded to the delayed loading of the robot model so please review this solution especially regarding thread contexts of the methods..

[jrgnicho]

@axelschroth thanks for submitting this. Your change seems logical but before accepting I'd like to test it out. Would you happen to have a repository with a test setup?

[axelschroth]

I'm afraid I don't, sorry.. The test setup I am working with is part of a big software infrastructure. You just have to use a latching publisher, publish a robot state and disable then enable the RobotState display.

Is there any repository already set up using a 6DOF robot which I could use to create a test repository?

[v4hn]

I will have a look at and test this later this week.

[jrgnicho]

@axelschroth there are several moveit_config packages for some abb robots here https://github.com/ros-industrial/abb

[v4hn]

Ok, I can't reproduce the error you face, but it's a racing condition, so that doesn't matter too much in this case.
I looked through the code and can verify the logic problem you describe in #595 .

I see no problem with changing the threading context of the problematic call to changedRobotStateTopic as you proposed.
Everything runs fine with this patch (just as before in my case...).

Tested and verified.

I believe we should backport this to indigo. I'll leave that to the merging maintainer.