changed the way to manage the synchronization
solved a deadlock, now working on the asynchronization
equivalent version using unique_lock
asyn version, it's slower then the previous one
last working version, with sync threads
code cleaned
added the possibility to not use the condition variable (maybe cond vars are not safe in real time)
changed name of the thread parameter
adjusted demo launch file
added MetaTaskWeight in startup.py, added code to do time tests
added cmake submodule