Merged requested to merge feature/multithreading_patch into devel
As explained in #188 (closed), some of the wolf ros nodes use different threads for each sensor callback and the call to
solve() as well. Consequently, it rarely crashes due to some asserts in
They are there to guarantee that all notified factors have been updated and that all state blocks in the problem are registered. However, with this multithreading scheme, a new factor or state block is sometimes added during the
This MR comments two asserts and adds a
continue to avoid a third case which would produce an error. However, this is just a patch, we should discuss adding some mutex for some
Problem attributes or whatever.. to deal with multi-threading.