deploy: 59f9e95

foxy/.buildinfo

@@ -1,4 +1,4 @@
 # Sphinx build info version 1
 # This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
-config: f592abafc995a99c648a2b3dbe407e24
+config: 15e23b14c769d405e38444d7e2d7af90
 tags: 645f666f9bcd5a90fca523b33c5a78b7

foxy/index.html

@@ -150,7 +150,7 @@ <h2>Development Organisation and Communication<a class="headerlink" href="#devel
 </dd>
 </dl>
 <hr class="docutils" />
-<p>Built on 2024-12-04 at 19:07 GMT</p>
+<p>Built on 2024-12-05 at 05:39 GMT</p>
 </section>
 </section>
 

galactic/.buildinfo

@@ -1,4 +1,4 @@
 # Sphinx build info version 1
 # This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
-config: b40bed771b92c5d7adcc7f353dbd03d0
+config: 9eb65df3f604f804f66c5cda227d1abb
 tags: 645f666f9bcd5a90fca523b33c5a78b7

galactic/index.html

@@ -150,7 +150,7 @@ <h2>Development Organisation and Communication<a class="headerlink" href="#devel
 </dd>
 </dl>
 <hr class="docutils" />
-<p>Built on 2024-12-04 at 19:07 GMT</p>
+<p>Built on 2024-12-05 at 05:39 GMT</p>
 </section>
 </section>
 

humble/.buildinfo

@@ -1,4 +1,4 @@
 # Sphinx build info version 1
 # This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
-config: 329ef227c93640a0ca9486aac0617ece
+config: 1a1d1ce538f757511f12ef3a498beae8
 tags: 645f666f9bcd5a90fca523b33c5a78b7

humble/_sources/doc/ros2_control/controller_manager/doc/userdoc.rst

@@ -262,6 +262,38 @@ The workaround for this is to specify another node name remap rule in the ``Node
       auto cm = std::make_shared<controller_manager::ControllerManager>(
         executor, "_target_node_name", "some_optional_namespace", options);
 
+Launching controller_manager with ros2_control_node
+---------------------------------------------------
+
+The controller_manager can be launched with the ros2_control_node executable. The following example shows how to launch the controller_manager with the ros2_control_node executable:
+
+.. code-block:: python
+
+    control_node = Node(
+        package="controller_manager",
+        executable="ros2_control_node",
+        parameters=[robot_controllers],
+        output="both",
+    )
+
+The ros2_control_node executable uses the following parameters from the ``controller_manager`` node:
+
+lock_memory (optional; bool; default: false for a non-realtime kernel, true for a realtime kernel)
+  Locks the memory of the ``controller_manager`` node at startup to physical RAM in order to avoid page faults
+  and to prevent the node from being swapped out to disk.
+  Find more information about the setup for memory locking in the following link : `How to set ulimit values <https://access.redhat.com/solutions/61334>`_
+  The following command can be used to set the memory locking limit temporarily : ``ulimit -l unlimited``.
+
+cpu_affinity (optional; int; default: -1)
+  Sets the CPU affinity of the ``controller_manager`` node to the specified CPU core.
+  The value of -1 means that the CPU affinity is not set.
+
+thread_priority (optional; int; default: 50)
+  Sets the thread priority of the ``controller_manager`` node to the specified value. The value must be between 0 and 99.
+
+use_sim_time (optional; bool; default: false)
+  Enables the use of simulation time in the ``controller_manager`` node.
+
 Concepts
 -----------