Races in GUI thread during joint state update

[disRecord]

This problem occurs when GUI is running and source_list topic is used to update joint state. Pose is updated only partially for long JointState messages.

source_cb() callback emits sliderUpdateTrigger signal. But it seems during sliders' values update in update_sliders() somehow onValueChange() is called. So pose is updated only partially: half of the pose comes from received source_list message and other half comes from the old sliders' state.

Attached patch adds a lock and solves this problem.
joint_state_publisher.patch.txt

[clalancette]

Would you mind opening a pull request with that change? It makes it easier for us to review and track it. Thanks.

[disRecord]

I've created pull request: #5 .

[v4hn]

This bug is a huge pain for users of MoveIt!'s demo mode,
where the joint_state_publisher is used to simulate the robot driver.

If users enable the GUI via a parameter in the demo.launch file, it looks like everything is running correctly.
But when they execute planned trajectories only some of the planned joints, if any, actually move.
All others remain at their current positions, resulting in broken and very unintuitive trajectories.

A number of hours of debugging by multiple users went into this already,
it would be great to see this fixed one way or another.

[sloretz]

Was fixed by #11 🎉, closing