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[ros2_control_node] Add option to set the CPU affinity #1852

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merged 2 commits into from
Nov 5, 2024
Merged

[ros2_control_node] Add option to set the CPU affinity #1852

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c935064
[ros2_control_node] Add option to set the CPU affinity via parameters
saikishor Nov 4, 2024
fe793a9
Update release_notes.rst
saikishor Nov 4, 2024
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11 changes: 11 additions & 0 deletions controller_manager/src/ros2_control_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -64,6 +64,17 @@ 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)
{
const auto affinity_result = realtime_tools::set_current_thread_affinity(cpu_affinity);
if (!affinity_result.first)
{
RCLCPP_WARN(
cm->get_logger(), "Unable to set the CPU affinity : '%s'", affinity_result.second.c_str());
}
}

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(
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1 change: 1 addition & 0 deletions doc/release_notes.rst
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Expand Up @@ -78,6 +78,7 @@ controller_manager
* 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>`_).
* 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>`_).

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