fix race condition #824
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fix race condition #824
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explicitly enforce updateSceneWithCurrentState() in waitForCurrentRobotState()
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explicitly enforce updateSceneWithCurrentState() in waitForCurrentRobotState()
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explicitly enforce updateSceneWithCurrentState() in waitForCurrentRobotState()
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Code simplification, horray! Merging. |
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explicitly enforce updateSceneWithCurrentState() in waitForCurrentRobotState()
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As pointed out in #350 (comment), the race condition in
waitForCurrentState()was not fully resolved yet.The reason was that only the first incoming
joint_stateupdate triggered aPlanningSceneupdate, while later updates were throttled. To overcome this issue, we should explicitly trigger a scene update inwaitForCurrentState(), if there were (further) updates.As verified by @mmoerdijk, this PR finally resolves the issue.
The unittest so far only involved fake controllers that didn't revealed the timing issue.