add the realtime_tools lock_memory method to prevent page faults

ros-controls · Oct 30, 2024 · ce5be80 · ce5be80
1 parent b0da4a1
commit ce5be80
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/controller_manager/src/ros2_control_node.cpp b/controller_manager/src/ros2_control_node.cpp
@@ -57,6 +57,12 @@ int main(int argc, char ** argv)
   auto cm = std::make_shared<controller_manager::ControllerManager>(
     executor, manager_node_name, "", cm_node_options);
 
+  std::string message;
+  if (!realtime_tools::lock_memory(message))
+  {
+    RCLCPP_WARN(cm->get_logger(), "Unable to lock the memory : '%s'", message.c_str());
+  }
+
   RCLCPP_INFO(cm->get_logger(), "update rate is %d Hz", cm->get_update_rate());
 
   std::thread cm_thread(