This needs some thread synchronization. The kinematic parameters are used on a different thread than the reconfigure call back.

The simple fix would be to add a mutex to the KinematicParameters class that we take in on_parameter_event_callback and every function that accesses these parameters. However, that's not going to be very efficient; every parameter has an individual accessor method.

Instead this class should be refactored so clients can grab the set of parameters instead of individual parameters.

Originally posted by @crdelsey in #1456 (comment)