forget to only publish if try lock is successfull

ros-controls · Jun 5, 2024 · 2ef601e · 2ef601e
1 parent 34ba940
commit 2ef601e
Showing 1 changed file with 5 additions and 3 deletions.
diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
@@ -1352,9 +1352,11 @@ void ResourceManager::publish_all_interface_values() const
  interface_values.states = state_interface_values;
  interface_values.commands = command_interface_values;
 
- rt_interface_values_publisher_->trylock();
- rt_interface_values_publisher_->msg_ = interface_values;
- rt_interface_values_publisher_->unlockAndPublish();
+ if(rt_interface_values_publisher_->trylock())
+ {
+ rt_interface_values_publisher_->msg_ = interface_values;
+ rt_interface_values_publisher_->unlockAndPublish();
+ }
 }
 
 // CM API: Called in "update"-thread