From 2786dbf36036001813eeab26ff17574ea0e6e70e Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Tue, 16 Apr 2024 09:55:08 +0000
Subject: [PATCH] Copy info over from wiki.ros.org

---
 doc/index.rst | 41 +++++++++++++++++++++++++++++++++++++++++
 1 file changed, 41 insertions(+)

diff --git a/doc/index.rst b/doc/index.rst
index 58007d08..d0ac70bc 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -5,6 +5,47 @@ Contains a set of tools that can be used from a hard realtime thread, without br
 
 For more information of the ros2_control framework see `control.ros.org <https://control.ros.org/>`__.
 
+Realtime Publisher
+------------------
+The ``realtime_tools::RealtimePublisher`` allows users that write C++ ros2_controllers to publish messages on a ROS topic from a hard realtime loop. The normal ROS publisher is not realtime safe, and should not be used from within the update loop of a realtime controller. The realtime publisher is a wrapper around the ROS publisher; the wrapper creates an extra non-realtime thread that publishes messages on a ROS topic. The example below shows a typical usage of the realtime publisher in the ``on_configure()`` and ``update()`` methods of a realtime controller:
+
+.. code-block:: cpp
+
+  #include <realtime_tools/realtime_publisher.h>
+
+  class MyController : public controller_interface::ControllerInterface
+  {
+  ...
+  private:
+    std::shared_ptr<realtime_tools::RealtimePublisher<my_msgs::msg::MyMsg>> state_publisher_;
+    std::shared_ptr<rclcpp::Publisher<my_msgs::msg::MyMsg>> s_publisher_;
+  }
+
+  controller_interface::CallbackReturn MyController::on_configure(
+    const rclcpp_lifecycle::State & /*previous_state*/)
+  {
+    ...
+    s_publisher_ = get_node()->create_publisher<my_msgs::msg::MyMsg>(
+      "~/status", rclcpp::SystemDefaultsQoS());
+    state_publisher_ =
+      std::make_unique<realtime_tools::RealtimePublisher<ControllerStateMsg>>(s_publisher_);
+    ...
+  }
+
+  controller_interface::return_type MyController::update(
+    const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
+  {
+    ...
+    // Publish controller state
+    state_publisher_->lock();
+    state_publisher_->msg_ = some_msg;
+    state_publisher_->unlockAndPublish();
+  }
+
+
+API documentation
+------------------
+
 .. toctree::
    :maxdepth: 2