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Published 20 hours ago • verified publisher icon ros-controls

[JointTrajectoryController] Reconsider memory operation in the Starting, Update and Stoping methods

Open destogl opened this issue 3 years ago • 0 comments

As @jordan-palacios wrote: current implementation of JTC is not real-time safe. The memory operations, i.e. vector manipulations and resizing has to be reconsidered. See below his comment:

I know this is not strictly related to this PR, but we can't be resizing vectors on every loop. This is not real-time safe.

@bmagyar Maybe we should open a follow up PR?

Originally posted by @jordan-palacios in https://github.com/ros-controls/ros2_controllers/pull/140#discussion_r627251793

destogl avatar May 15 '21 20:05 destogl