[ros2_control_node] Add the realtime_tools lock_memory method to prev…

…ent page faults (#1822)

controller_manager/src/ros2_control_node.cpp

@@ -57,6 +57,13 @@ int main(int argc, char ** argv)
   auto cm = std::make_shared<controller_manager::ControllerManager>(
     executor, manager_node_name, "", cm_node_options);
 
+  const bool lock_memory = cm->get_parameter_or<bool>("lock_memory", true);
+  std::string message;
+  if (lock_memory && !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());
   const int thread_priority = cm->get_parameter_or<int>("thread_priority", kSchedPriority);
   RCLCPP_INFO(

doc/release_notes.rst

@@ -77,6 +77,7 @@ controller_manager
 * 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>`_).
+* 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>`_).
 
 hardware_interface
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