Delayed Read Write Calls till after on_activate() is completed

[soham2560]

In this PR

• Fixed [TxRxResult] Port is in use! error working with XC330-M288T on ROS2 Humble #88 (refer abab217)
• Added bool variable that exits out of the read and write calls till on_activate is completed

How was this tested?

• Tested on Humble with XC330-M288T in Position Control Mode at 200HZ with JTC

[soham2560]

@ijnek can you have a look at this?

[brennand]

I found a bug with this code. It doe solve the Port in Use bug. But it also means we can't read the current joint position when we active the plugin. As the reset_command() is called before activated_ = true; is set. Hence we can't read any values from the servo motor. This is the output from the this: joints_[i].command.position = joints_[i].state.position;

joints_[i].state.position: nan

[soham2560]

I found a bug with this code. It doe solve the Port in Use bug. But it also means we can't read the current joint position when we active the plugin. As the reset_command() is called before activated_ = true; is set. Hence we can't read any values from the servo motor. This is the output from the this: joints_[i].command.position = joints_[i].state.position;

joints_[i].state.position: nan

aah, missed that. do you have any solution for the same?

[soham2560]

@brennand @ijnek would b87f70a solve the issue?