Bugfix - double write of the desired position

[macmacal]

Description

After lots of debugging the integration of the driver with a UR5e project I believe i found the source of the problem: calling the write_output_bytes(); (which executes the modbus communication) when the mutex was locked in the time-critical block.

• Closes [BUG] socat forward of gripper RS485 causes pipeline overflow in UR's RTDE aegis_ros#67

Note

For this particular PR please do the squash merge.

Motivation and context

• Eliminate ros2_control's control_node frequency hiccups.

How has this been tested?

• Manually with the real gripper mounted to the UR5e robot.
  • Connected via socat port forwarding.
  • Communication thread frequency: 100 Hz.
  • Control loop frequency: 500 Hz.
  • Additional modules (i.e. f/t sensor & cameras) were enabled.

Related PRs

• Minor config files fixes  aegis_ros#68

Checklist

• All TODOs in the code have been resolved or linked to a proper issue.
• Code has been (auto)formatted.
• Documentation (e.g., README, CHANGELOG, Wiki) has been updated.
• All automated checks have passed.

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Clickup task: 869amanuv

[sivral]

Looks good to me!