Pose controller dynamic reconfig [WIP]

[Marco-Andarcia]

Added dynamic reconfigure to pose controller, this pull request depends on yocs_msgs pull request.

Test Procedure:

• Checkout this pr
• checkout yocs pr
• build
• launch apps from desktop
• check dynamic reconfigure for pose controller autodocking.

[Marco-Andarcia]

@stonier I need access to yocs_msgs :/

[Marco-Andarcia]

@AlexReimann Can you check this pull request? daniel asked me to ask you to merge this one.

[AlexReimann]

Just small stuffs, before merging

[AlexReimann]

Instead of member variable, use a local variable.

[AlexReimann]

Outdated, remove

[AlexReimann]

This is the wrong mutex, you have to lock with the same mutex as where you use the variables :/

[AlexReimann]

Deadlocks because calling lock here and then calling controlPose here which tries to lock again.

3 possible ways to do this without c++11:

• Use boost recursive mutex which can be locked multiple times by the same thread (c++11 version
• Lock and unlock each time directly around the variable for which you need the locking
• Make sure you don't try to lock again in the "child" function calls (this kind of often leads to bugs, especially if someone is not aware of when / where he has to lock later)

+1 with c++11:

• Use atomic variables, e. g. std::Atomic<double> max_something with which you need no locking

[Marco-Andarcia]

@AlexReimann Already fixed the mutex logic. removed the lock from the controlPose() and controlOrientation() functions.

[AlexReimann]

You missed some locking (see additional commit).

Also this foobars the parameter loaded from the params file.

The dynamic reconfigure server is instantiated after the params are loaded from the files. So it will overwrite them (when it gets instantiated it triggers a reconfigure callback with the default values of the Config file).

The way to do this properly is to have the param file parameter names the same as the dyn reconfigure Config file parameters. This way the dynamic reconfigure server will overwrite its defaults with the once from the ros parameter server (which has the values from the params file).

[AlexReimann]

Seems like they already have the same name, going to do some more digging. It definitely foobars something.

[AlexReimann]

There was a bug about w_min not being assigned properly. Checkout the commit.