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A repository for daVinci Research Kit at WPI
To make a consistent interface, the publishing frequency control should be taken away from the end application. The publishers should publish at the same frequency as the subscribers.
Since the dvrk_arm class methods are called in an async, rate::sleeps and ros::spinOnce are required at each call. This causes unexpected latency.
The default Async::spinner is not the best choice since it can corrupt data between intermediate calls to the data being converted.
In the DVRK_Arm Class, the assign function is assigned before the conversion Frame Ptrs are initialized. This raises px!=0 assertion.
This problem is related to sawIntuitiveResearchKit library and not the dvrk_arm package itself
The only conversion function type is geometry_mgs::Pose, which as the name indicates is used to retrieve the Pose data from the Arms. More types are need for getting data including Joint Positions, Current Wrench etc.
Seperate Haptic and Kinematic/Motion Planning code of PSM. Possible create several classes
Since the subscribers are running in an async fashion, the data exchange after the necessary conversion should happen during a single command
When using this package in applications such as CHAI-3D, there is an exception when the CHAI-3D application is terminated. This is the exception
"boost: mutex lock failed in pthread_mutex_lock: Invalid argument
Aborted"
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