Avoid updating ros_control controllers on pipeline timeout

include/ur_modern_driver/pipeline.h

@@ -159,11 +159,10 @@ class Pipeline
     unique_ptr<T> product;
     while (running_)
     {
-      // timeout was chosen because we should receive messages
-      // at roughly 125hz (every 8ms) and have to update
-      // the controllers (i.e. the consumer) with *at least* 125Hz
-      // So we update the consumer more frequently via onTimeout
-      if (!queue_.wait_dequeue_timed(product, std::chrono::milliseconds(8)))
+      // 16000us timeout was chosen because we should
+      // roughly recieve messages at 125hz which is every
+      // 8ms so double it for some error margin
+      if (!queue_.wait_dequeue_timed(product, std::chrono::milliseconds(16)))
       {
         consumer_.onTimeout();
         continue;

include/ur_modern_driver/ros/controller.h

@@ -85,7 +85,5 @@ class ROSController : private hardware_interface::RobotHW, public URRTPacketCons
     return update();
   }
 
-  virtual void onTimeout();
-
   virtual void onRobotStateChange(RobotState state);
 };

src/ros/controller.cpp

@@ -109,11 +109,6 @@ bool ROSController::update()
   return write();
 }
 
-void ROSController::onTimeout()
-{
-  update();
-}
-
 void ROSController::onRobotStateChange(RobotState state)
 {
   bool next = (state == RobotState::Running);