Realtime-review for pr2_mechanism_control (ros ticket #2888)

[ahendrix]

The code of the pr2_mechanism_control package needs a review to make sure it is realtime safe. I just checked in a patch to remove the diagnostics publishing, which was definitely not realtime safe.

You can leave your comments here:
http://www.ros.org/wiki/pr2_mechanism_control/Reviews/2009-10-08_Realtime_Review

trac data:

• Owner: wheeler
• Reporter: meeussen
• Reported at: Thu Oct 8 18:03:32 2009
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/2888

[ahendrix]

[wim] We can reliably reproduce a problem where the realtime loop gets delayed for about 6 ms while a controller gets loaded. It is not a problem in ethercat or the controller manager, as both get equally affected by the delay of the realtime loop. We suspect that the dynamic loading of controllers is causing this problem.