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Update CPU affinity parameter to be able to set multiple CPUs #1915

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5 changes: 3 additions & 2 deletions controller_manager/doc/userdoc.rst
Original file line number Diff line number Diff line change
Expand Up @@ -331,9 +331,10 @@ lock_memory (optional; bool; default: false for a non-realtime kernel, true for
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)
cpu_affinity (optional; int (or) int_array;)
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.
If it is an integer, the node's affinity will be set to the specified CPU core.
If it is an array of integers, the node's affinity will be set to the specified set of CPU cores.

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.
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18 changes: 15 additions & 3 deletions controller_manager/src/ros2_control_node.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -67,10 +67,22 @@ int main(int argc, char ** argv)
RCLCPP_WARN(cm->get_logger(), "Unable to lock the memory : '%s'", message.c_str());
}

const int cpu_affinity = cm->get_parameter_or<int>("cpu_affinity", -1);
if (cpu_affinity >= 0)
rclcpp::Parameter cpu_affinity_param;
if (cm->get_parameter("cpu_affinity", cpu_affinity_param))
{
const auto affinity_result = realtime_tools::set_current_thread_affinity(cpu_affinity);
std::vector<int> cpus = {};
if (cpu_affinity_param.get_type() == rclcpp::ParameterType::PARAMETER_INTEGER)
{
cpus = {cpu_affinity_param.as_int()};
}
else if (cpu_affinity_param.get_type() == rclcpp::ParameterType::PARAMETER_INTEGER_ARRAY)
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{
const auto cpu_affinity_param_array = cpu_affinity_param.as_integer_array();
std::for_each(
cpu_affinity_param_array.begin(), cpu_affinity_param_array.end(),
[&cpus](int cpu) { cpus.push_back(static_cast<int>(cpu)); });
}
const auto affinity_result = realtime_tools::set_current_thread_affinity(cpus);
if (!affinity_result.first)
{
RCLCPP_WARN(
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1 change: 1 addition & 0 deletions doc/release_notes.rst
Original file line number Diff line number Diff line change
Expand Up @@ -83,6 +83,7 @@ controller_manager
* The ``ros2_control_node`` node has a new ``lock_memory`` parameter to lock memory at startup to physical RAM in order to avoid page faults (`#1822 <https://github.com/ros-controls/ros2_control/pull/1822>`_).
* The ``ros2_control_node`` node has a new ``cpu_affinity`` parameter to bind the process to a specific CPU core. By default, this is not enabled. (`#1852 <https://github.com/ros-controls/ros2_control/pull/1852>`_).
* The ``--service-call-timeout`` was added as parameter to the helper scripts ``spawner.py``. Useful when the CPU load is high at startup and the service call does not return immediately (`#1808 <https://github.com/ros-controls/ros2_control/pull/1808>`_).
* The ``cpu_affinity`` parameter can now accept of types ``int`` or ``int_array`` to bind the process to a specific CPU core or multiple CPU cores. (`#1915 <https://github.com/ros-controls/ros2_control/pull/1915>`_).

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