ROS 2 - Fix estop threads #249
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KmakD
requested changes
Mar 19, 2024
panther_hardware_interfaces/include/panther_hardware_interfaces/gpio_controller.hpp
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panther_hardware_interfaces/src/panther_system_ros_interface.cpp
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panther_hardware_interfaces/src/panther_system_ros_interface.cpp
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KmakD
approved these changes
Mar 25, 2024
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Changes
e_stop_triggerande_stop_resetservices. This has helped to implement behavior where the trigger has a higher "priority" than the reset, ensuring that each trigger is immediate (unlike before, where it had to wait max. 200ms for the reset to complete). These changes should guarantee thread safety. The rest of the services are still managed in the node's default callback group, so they are not executed concurrently.