From: Kyle Maroney <kpm@barrett.com>
Date: Mon, 12 Nov 2012 16:22:02 +0000 (+0000)
Subject: Not necessary to lock the scope for the real-time interface. Previous falling out... 
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=efbed9a088f96637037be5aaaa3a67b96b50d917;p=barrett-ros-pkg.git

Not necessary to lock the scope for the real-time interface. Previous falling out of RT on PC/104 now resolved.
---

diff --git a/wam_robot/wam_node/src/wam_node.cpp b/wam_robot/wam_node/src/wam_node.cpp
index ada5bd9..866ca0b 100644
--- a/wam_robot/wam_node/src/wam_node.cpp
+++ b/wam_robot/wam_node/src/wam_node.cpp
@@ -66,7 +66,7 @@
 #include <barrett/detail/stl_utils.h>
 
 static const int PUBLISH_FREQ = 250; // Default Control Loop / Publishing Frequency
-static const int BHAND_PUBLISH_FREQ = 10; // Publishing Frequency for the BarretHand
+static const int BHAND_PUBLISH_FREQ = 5; // Publishing Frequency for the BarretHand
 static const double SPEED = 0.03; // Default Cartesian Velocity
 
 using namespace barrett;
@@ -772,8 +772,6 @@ template<size_t DOF>
       }
       else if (new_rt_cmd)
       {
-        BARRETT_SCOPED_LOCK(pm.getMutex());
-        //Forces us into real-time
         ramp.reset(); // reset the ramp to 0
         ramp.setSlope(cart_vel_mag);
         cart_dir.setValue(rt_cv_cmd); // set our cartesian direction to subscribed command
@@ -807,8 +805,6 @@ template<size_t DOF>
       }
       else if (new_rt_cmd)
       {
-        BARRETT_SCOPED_LOCK(pm.getMutex());
-        //Forces us into real-time
         ramp.reset(); // reset the ramp to 0
         ramp.setSlope(ortn_vel_mag); // updating the commanded angular velocity magnitude
         rpy_cmd.setValue(rt_ortn_cmd); // set our angular rpy command to subscribed command
@@ -831,8 +827,6 @@ template<size_t DOF>
       }
       else if (new_rt_cmd)
       {
-        BARRETT_SCOPED_LOCK(pm.getMutex());
-        //Forces us into real-time
         jv_track.setValue(rt_jv_cmd); // set our joint velocity to subscribed command
       }
       jnt_vel_status = true;
@@ -852,8 +846,6 @@ template<size_t DOF>
       }
       else if (new_rt_cmd)
       {
-        BARRETT_SCOPED_LOCK(pm.getMutex());
-        //Forces us into real-time
         jp_track.setValue(rt_jp_cmd); // set our joint position to subscribed command
         jp_rl.setLimit(rt_jp_rl); // set our rate limit to subscribed rate to control the rate of the moves
       }
@@ -876,8 +868,6 @@ template<size_t DOF>
       }
       else if (new_rt_cmd)
       {
-        BARRETT_SCOPED_LOCK(pm.getMutex());
-        //Forces us into real-time
         cp_track.setValue(rt_cp_cmd); // Set our cartesian positions to subscribed command
         cp_rl.setLimit(rt_cp_rl); // Updating the rate limit to subscribed rate to control the rate of the moves
       }