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[ros2_control_node] Handle simulation environment clocks (backport #1810) #1862

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merged 5 commits into from
Nov 8, 2024
Merged

[ros2_control_node] Handle simulation environment clocks (backport #1810) #1862

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2904b24
[ros2_control_node] Handle simulation environment clocks (#1810)
saikishor Nov 6, 2024
67b9e5a
Fix release notes
christophfroehlich Nov 7, 2024
dffba96
Fix merge conflict
christophfroehlich Nov 7, 2024
302baee
Use Clock instead of Rate for backward compatibility of rolling (#1864)
saikishor Nov 8, 2024
3cf9d72
Merge branch 'humble' into mergify/bp/humble/pr-1810
christophfroehlich Nov 8, 2024
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14 changes: 12 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 @@ -44,6 +44,9 @@ int main(int argc, char ** argv)

auto cm = std::make_shared<controller_manager::ControllerManager>(executor, manager_node_name);

const bool use_sim_time = cm->get_parameter_or("use_sim_time", false);
rclcpp::Rate rate(cm->get_update_rate());
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const int cpu_affinity = cm->get_parameter_or<int>("cpu_affinity", -1);
if (cpu_affinity >= 0)
{
Expand All @@ -68,7 +71,7 @@ int main(int argc, char ** argv)
thread_priority);

std::thread cm_thread(
[cm, thread_priority]()
[cm, thread_priority, use_sim_time, &rate]()
{
if (realtime_tools::has_realtime_kernel())
{
Expand Down Expand Up @@ -120,7 +123,14 @@ int main(int argc, char ** argv)

// wait until we hit the end of the period
next_iteration_time += period;
std::this_thread::sleep_until(next_iteration_time);
if (use_sim_time)
{
rate.sleep();
}
else
{
std::this_thread::sleep_until(next_iteration_time);
}
}
});

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1 change: 1 addition & 0 deletions doc/release_notes.rst
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Expand Up @@ -16,6 +16,7 @@ controller_interface
controller_manager
******************

* ``ros2_control_node`` can now handle the sim time used by different simulators, when ``use_sim_time`` is set to true (`#1810 <https://github.com/ros-controls/ros2_control/pull/1810>`_).
* 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>`_).
* 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 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>`_).
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