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                                            WideAwakeTN

Avoid priority inversions when using FIFO scheduling

A ROS Discourse article has been created for this pull request: https://discourse.ros.org/t/avoiding-priority-inversions-includes-draft-pull-requests/29219

Avoid priority inversions when using FIFO scheduling

@DasRoteSkelett > Looks good to me, but I am not a reviewer. I would really like to have the commits squashed / rebased (i.e. stuff like "code style fix" can...

Avoid priority inversions when using FIFO scheduling

I added a CMake option in the CMakeLists.txt which allows to turn the priority inheritance feature on or off without changing a single line of code. The changes also improved...

Inconsistent height when moving with constant Z values.

In case all angles are 0 degress the z coordinate is given by the following simple formula according to the Pythagoras theorem: z = -sqrt[ (RodLength)² - (PlatformTri + ArmLength...