Timing issue: Access too often to Param Server

[Alexis Paques]

The following reads the ratio whenever called.
It is bad for runtime as it is a blocking networking task.
Instead, the parameter should be read at the start of the node, also because it is very likely that this value will not change.

roboteq_control/src/roboteq/motor.cpp

Lines 103 to 120 in b0406fb

 /** 
  * Conversion of radians to encoder ticks. 
  * 
  * @param x Angular position in radians. 
  * @return Angular position in encoder ticks. 
  */ 
 double Motor::to_encoder_ticks(double x) 
 { 
     double reduction = 0; 
     // Get ratio 
     mNh.getParam(mMotorName + "/ratio", reduction); 
     //ROS_INFO_STREAM("to_encoder_ticks:" << reduction); 
     // apply the reduction convertion 
     if(_sensor != NULL) 
         reduction = _sensor->getConversion(reduction); 
     // Return the value converted 
     return x * (reduction) / (2 * M_PI); 
 } 

[Raffaello Bonghi]

Gotcha!
I will start to fix soon!

[Raffaello Bonghi]

Hi @AlexisTM,

I know, you don't believe on my message, but I'm fixing this issue! Yes, we are close to easter, the weather is not bad, but maybe will snow today :-D

I move the reduction parameter on Motor initialization. I'm already testing, but look like fine this fix.
6c59d5d

I will close this issue for this week, if everything is fine.

[Alexis Paques]

Definitely better :)

The issue was extremely clear when having a remote master. With a local master, it is bad practice but still works (as you have something like 40Gb/s bandwidth)