Multithreaded read() write() in CombinedRobotHW

[sonelu]

Hello,

At the moment the CombinedRobotHW read() and write() methods simply call sequentially the read() and write() of each of the robot HW interface included in the combined HW. In most of the cases the HW interfaces are independent and do not share resources (ex. use different communication ports, devices, etc.). One example could be a multi-bus Dynamixel or CAN chain operated on different serial ports.

In this case it might be beneficial to have the possibility to run the individual read() and write() methods each in their thread allowing for higher communication bandwidth with the devices.

Thanks.