{"action":"created","comment":{"url":"https://api.github.com/repos/CIR-KIT-Unit03/cirkit_unit03_robot/pulls/comments/88851650","pull_request_review_id":9410658,"id":88851650,"diff_hunk":"@@ -125,11 +115,8 @@ void cirkit::CirkitUnit03Driver::run() {\n   }\n }\n \n-void cirkit::CirkitUnit03Driver::cmdVelReceived(const geometry_msgs::Twist::ConstPtr& cmd_vel) 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\r\n内部に移動しただけなら変わらないとおもいます。\r\n`write()`がcmd_velのcallbackから呼ばれ、`read()`がodometryを計算するために一定周期で呼び出されます。\r\n記憶が正しければ`read()`は`getEncoderPacket()`で`write()`は`driveDirect()`で呼び出されていたのでそこにmutexをつけていました。\r\nあの時はcallbackがスレッドで動いていると思っていたのでmutexを掛けるようにしてそれでエラーが出なくなったので、それでおしまいにしましたが、通常の`spinOnce()`ではスレッド動作しないので同時アクセスは当時から起こっていないはずです。しかし、実際にエラーが生じていたことを考えるとアクセス間隔が速すぎたのではないかと思っています。\r\nどちらにしろここの変更には問題ないと思います。すいません。","created_at":"2016-11-21T09:05:43Z","updated_at":"2016-11-21T09:05:43Z","html_url":"https://github.com/CIR-KIT-Unit03/cirkit_unit03_robot/pull/11#discussion_r88851650","pull_request_url":"https://api.github.com/repos/CIR-KIT-Unit03/cirkit_unit03_robot/pulls/11","_links":{"self":{"href":"https://api.github.com/repos/CIR-KIT-Unit03/cirkit_unit03_robot/pulls/comments/88851650"},"html":{"href":"https://github.com/CIR-KIT-Unit03/cirkit_unit03_robot/pull/11#discussion_r88851650"},"pull_request":{"href":"https://api.github.com/repos/CIR-KIT-Unit03/cirkit_unit03_robot/pulls/11"}}},"pull_request":{"url":"https://api.github.com/repos/CIR-KIT-Unit03/cirkit_unit03_robot/pulls/11","id":94405913,"html_url":"https://github.com/CIR-KIT-Unit03/cirkit_unit03_robot/pull/11","diff_url":"https://github.com/CIR-KIT-Unit03/cirkit_unit03_robot/pull/11.diff","patch_url":"https://github.com/CIR-KIT-Unit03/cirkit_unit03_robot/pull/11.patch","issue_url":"https://api.github.com/repos/CIR-KIT-Unit03/cirkit_unit03_robot/issues/11","number":11,"state":"open","locked":false,"title":"Refactor driver pkg edition 2","user":{"login":"forno","id":11057257,"avatar_url":"https://avatars.githubusercontent.com/u/11057257?v=3","gravatar_id":"","url":"https://api.github.com/users/forno","html_url":"https://github.com/forno","followers_url":"https://api.github.com/users/forno/followers","following_url":"https://api.github.com/users/forno/following{/other_user}","gists_url":"https://api.github.com/users/forno/gists{/gist_id}","starred_url":"https://api.github.com/users/forno/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/forno/subscriptions","organizations_url":"https://api.github.com/users/forno/orgs","repos_url":"https://api.github.com/users/forno/repos","events_url":"https://api.github.com/users/forno/events{/privacy}","received_events_url":"https://api.github.com/users/forno/received_events","type":"User","site_admin":false},"body":"このシリーズは気が済むまで続きます。\r\n\r\n今回の変更はこちら\r\n\r\n- ThirdRobotInterface の生ポインタをインスタンスに置き換え\r\n- 全く使用していないdefineを削除\r\n- 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だけです。\r\n\r\nとりあえず進捗報告も兼ねてPull-requset送信します。","created_at":"2016-11-18T17:44:14Z","updated_at":"2016-11-21T09:05:43Z","closed_at":null,"merged_at":null,"merge_commit_sha":"2eac0dc204536bc4a8f1ee024421862e08eb9366","assignee":null,"assignees":[],"milestone":null,"commits_url":"https://api.github.com/repos/CIR-KIT-Unit03/cirkit_unit03_robot/pulls/11/commits","review_comments_url":"https://api.github.com/repos/CIR-KIT-Unit03/cirkit_unit03_robot/pulls/11/comments","review_comment_url":"https://api.github.com/repos/CIR-KIT-Unit03/cirkit_unit03_robot/pulls/comments{/number}","comments_url":"https://api.github.com/repos/CIR-KIT-Unit03/cirkit_unit03_robot/issues/11/comments","statuses_url":"https://api.github.com/repos/CIR-KIT-Unit03/cirkit_unit03_robot/statuses/d361aa2112e6fdb7e069acaa11fc7094baabd78d","head":{"label":"CIR-KIT-Unit03:dy/refactor/driver-pkg","ref":"dy/refactor/driver-pkg","sha":"d361aa2112e6fdb7e069acaa11fc7094baabd78d","user":{"login":"CIR-KIT-Unit03","id":23313856,"avatar_url":"https://avatars.githubusercontent.com/u/23313856?v=3","gravatar_id":"","url":"https://api.github.com/users/CIR-KIT-Unit03","html_url":"https://github.com/CIR-KIT-Unit03","followers_url":"https://api.github.com/users/CIR-KIT-Unit03/followers","following_url":"https://api.github.com/users/CIR-KIT-Unit03/following{/other_user}","gists_url":"https://api.github.com/users/CIR-KIT-Unit03/gists{/gist_id}","starred_url":"https://api.github.com/users/CIR-KIT-Unit03/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/CIR-KIT-Unit03/subscriptions","organizations_url":"https://api.github.com/users/CIR-KIT-Unit03/orgs","repos_url":"https://api.github.com/users/CIR-KIT-Unit03/repos","events_url":"https://api.github.com/users/CIR-KIT-Unit03/events{/privacy}","received_events_url":"https://api.github.com/users/CIR-KIT-Unit03/received_events","type":"Organization","site_admin":false},"repo":{"id":73081050,"name":"cirkit_unit03_robot","full_name":"CIR-KIT-Unit03/cirkit_unit03_robot","owner":{"login":"CIR-KIT-Unit03","id":23313856,"avatar_url":"https://avatars.githubusercontent.com/u/23313856?v=3","gravatar_id":"","url":"https://api.github.com/users/CIR-KIT-Unit03","html_url":"https://github.com/CIR-KIT-Unit03","followers_url":"https://api.github.com/users/CIR-KIT-Unit03/followers","following_url":"https://api.github.com/users/CIR-KIT-Unit03/following{/other_user}","gists_url":"https://api.github.com/users/CIR-KIT-Unit03/gists{/gist_id}","starred_url":"https://api.github.com/users/CIR-KIT-Unit03/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/CIR-KIT-Unit03/subscriptions","organizations_url":"https://api.github.com/users/CIR-KIT-Unit03/orgs","repos_url":"https://api.github.com/users/CIR-KIT-Unit03/repos","events_url":"https://api.github.com/users/CIR-KIT-Unit03/events{/privacy}","received_events_url":"https://api.github.com/users/CIR-KIT-Unit03/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/CIR-KIT-Unit03/cirkit_unit03_robot","description":"Robot 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