[pr2eus] Freeze in :wait-until-update-all-joints in simulation mode

[pazeshun]

This happened in start-jsk/jsk_apc
I don't know about other repos.

[k-okada]

does this happen when you create baxter-interface, just loaded from baxtereus/baxter-interface.l ? @pazeshun

[mmurooka]

It works in my environment.

Please download https://gist.github.com/mmurooka/6906e6997b0be948b58eef35950a2443 , and execute

roscore
roseus test-baxter-interface-wait-until-update-all-joints.l 

My output is following, and it is working correctly.

":wait-until-update is nil"
;; time -> 2.500000e-05[s]
":wait-until-update is t"
;; time -> 3.300000e-05[s]
":wait-until-update is nil"
;; time -> 4.000000e-06[s]
":wait-until-update is t"
;; time -> 2.300000e-05[s]
":wait-until-update is nil"
;; time -> 3.000000e-06[s]
":wait-until-update is t"
;; time -> 2.100000e-05[s]

[pazeshun]

does this happen when you create baxter-interface, just loaded from baxtereus/baxter-interface.l ?

Yes.
@mmurooka's test-baxter-interface-wait-until-update-all-joints.l works in my environment like following:

":wait-until-update is nil"
;; time -> 1.400000e-05[s]
":wait-until-update is t"
;; time -> 3.300000e-05[s]
":wait-until-update is nil"
;; time -> 4.000000e-06[s]
":wait-until-update is t"
;; time -> 2.700000e-05[s]
":wait-until-update is nil"
;; time -> 4.000000e-06[s]
":wait-until-update is t"
;; time -> 2.500000e-05[s]

But after that, it never returned when I typed send *ri* :update-robot-state :wait-until-update t to roseus command line:

1.irteusgl$ send *ri* :update-robot-state :wait-until-update t

I don't know the difference.

[k-okada]

@pazeshun can you create test code for this?