Robot Base class mutex

[mlautman]

I am working to split the trajectory functionality out of the robot class and into it's own class. I noticed that the mutex strategy currently blocks this as the same mutex is used for the Robot functionality as is used by the Trajectory construction and planning.

I am not sure I understand the mutex strategy here.

1. Why does Robot, (a class that doesn't have any subscriptions) need a mutex?
2. Why doesn't the online robot class (which does have subscriptions) not use a mutex.

This seems like something we could address rather quickly but I wanted to check to see if I was missing anything before I invested time in a resolution

[shaun-edwards]

Why does Robot, (a class that doesn't have any subscriptions) need a mutex?

This is probably an artifact from when when Robot and Online Robot were the same class.

Why doesn't the online robot class (which does have subscriptions) not use a mutex.

Again probably an oversight. Does Online Robot require/assume a multi-threaded ROS spinner?