Working async controllers and components [not synchronized] (backport #1041) #1529
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(cherry picked from commit 2cbe470)
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This is outdated and replaced by a newer implementation on rolling/jazzy. |
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I haven't found a good way to synchronize the controllers / components with the ros2 control node's thread without changing a lot of stuff inside the handles (and controllers), and since they are getting reworked anyway, I thought I'll wait until then.
Before that, this solution assumes that all writes to the command interfaces' double values are atomic operations.
This is an automatic backport of pull request #1041 done by Mergify.