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[ros2_control_node] add thread_priority option to the ros2_control_node #1820

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merged 1 commit into from
Oct 30, 2024
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[ros2_control_node] add thread_priority option to the ros2_control_node #1820

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8 changes: 6 additions & 2 deletions controller_manager/src/ros2_control_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -58,11 +58,15 @@ int main(int argc, char ** argv)
executor, manager_node_name, "", cm_node_options);

RCLCPP_INFO(cm->get_logger(), "update rate is %d Hz", cm->get_update_rate());
const int thread_priority = cm->get_parameter_or<int>("thread_priority", kSchedPriority);
RCLCPP_INFO(
cm->get_logger(), "Spawning %s RT thread with scheduler priority: %d", cm->get_name(),
thread_priority);

std::thread cm_thread(
[cm]()
[cm, thread_priority]()
{
if (!realtime_tools::configure_sched_fifo(kSchedPriority))
if (!realtime_tools::configure_sched_fifo(thread_priority))
{
RCLCPP_WARN(
cm->get_logger(),
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1 change: 1 addition & 0 deletions doc/release_notes.rst
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Expand Up @@ -76,6 +76,7 @@ controller_manager
* The ``--controller-type`` or ``-t`` spawner arg is removed. Now the controller type is defined in the controller configuration file with ``type`` field (`#1639 <https://github.com/ros-controls/ros2_control/pull/1639>`_).
* The ``--namespace`` or ``-n`` spawner arg is deprecated. Now the spawner namespace can be defined using the ROS 2 standard way (`#1640 <https://github.com/ros-controls/ros2_control/pull/1640>`_).
* Added support for the wildcard entries for the controller configuration files (`#1724 <https://github.com/ros-controls/ros2_control/pull/1724>`_).
* The ``ros2_control_node`` node now accepts the ``thread_priority`` parameter to set the scheduler priority of the controller_manager's RT thread (`#1820 <https://github.com/ros-controls/ros2_control/pull/1820>`_).

hardware_interface
******************
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