wrapped current_moprim_execution_status_ into an std::atomic<>

Author: mathias31415

ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp

@@ -300,7 +300,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   // Status for communication with controller
   bool motion_primitives_forward_controller_running_;
   using MoprimExecutionState = motion_primitives_forward_controller::ExecutionState;
-  MoprimExecutionState current_moprim_execution_status_;
+  std::atomic<MoprimExecutionState> current_moprim_execution_status_;
   std::atomic_bool ready_for_new_moprim_;
 
   // Command and state interfaces for the motion primitives

ur_robot_driver/src/hardware_interface.cpp

@@ -909,7 +909,7 @@ hardware_interface::return_type URPositionHardwareInterface::read(const rclcpp::
     updateNonDoubleValues();
 
     // Motion primitives stuff
-    hw_moprim_states_[0] = static_cast<uint8_t>(current_moprim_execution_status_);
+    hw_moprim_states_[0] = static_cast<uint8_t>(current_moprim_execution_status_.load());
     hw_moprim_states_[1] = static_cast<double>(ready_for_new_moprim_);
 
     return hardware_interface::return_type::OK;