From 7d74f2e68c134c6075ae0dfedeb70257b5f3ff2d Mon Sep 17 00:00:00 2001
From: Manuel Muth <manuel.muth@stoglrobotics.de>
Date: Thu, 22 Aug 2024 11:05:06 +0200
Subject: [PATCH 1/2] inform user what reason is for not setting rt policy,
 inform is policy (#1705)

(cherry picked from commit dd352eb45a9a983116f61dc1a5fc650003844cf3)

# Conflicts:
#	controller_manager/src/ros2_control_node.cpp
---
 controller_manager/src/ros2_control_node.cpp | 19 +++++++++++++++++++
 1 file changed, 19 insertions(+)

diff --git a/controller_manager/src/ros2_control_node.cpp b/controller_manager/src/ros2_control_node.cpp
index e7f88f2c20..81a21962cb 100644
--- a/controller_manager/src/ros2_control_node.cpp
+++ b/controller_manager/src/ros2_control_node.cpp
@@ -12,7 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+<<<<<<< HEAD
 #include <algorithm>
+=======
+#include <errno.h>
+>>>>>>> dd352eb (inform user what reason is for not setting rt policy, inform is policy (#1705))
 #include <chrono>
 #include <memory>
 #include <string>
@@ -50,6 +54,7 @@ int main(int argc, char ** argv)
     {
       if (realtime_tools::has_realtime_kernel())
       {
+<<<<<<< HEAD
         if (!realtime_tools::configure_sched_fifo(kSchedPriority))
         {
           RCLCPP_WARN(cm->get_logger(), "Could not enable FIFO RT scheduling policy");
@@ -58,6 +63,20 @@ int main(int argc, char ** argv)
       else
       {
         RCLCPP_INFO(cm->get_logger(), "RT kernel is recommended for better performance");
+=======
+        RCLCPP_WARN(
+          cm->get_logger(),
+          "Could not enable FIFO RT scheduling policy: with error number <%i>(%s). See "
+          "[https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] "
+          "for details on how to enable realtime scheduling.",
+          errno, strerror(errno));
+      }
+      else
+      {
+        RCLCPP_INFO(
+          cm->get_logger(), "Successful set up FIFO RT scheduling policy with priority %i.",
+          kSchedPriority);
+>>>>>>> dd352eb (inform user what reason is for not setting rt policy, inform is policy (#1705))
       }
 
       // for calculating sleep time

From f09512847ac82d403b7c999798c80d27628a226b Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 22 Aug 2024 12:17:47 +0000
Subject: [PATCH 2/2] Fixe merge conflicts

---
 controller_manager/src/ros2_control_node.cpp | 25 ++++++--------------
 1 file changed, 7 insertions(+), 18 deletions(-)

diff --git a/controller_manager/src/ros2_control_node.cpp b/controller_manager/src/ros2_control_node.cpp
index 81a21962cb..8be22e2393 100644
--- a/controller_manager/src/ros2_control_node.cpp
+++ b/controller_manager/src/ros2_control_node.cpp
@@ -12,11 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-<<<<<<< HEAD
-#include <algorithm>
-=======
 #include <errno.h>
->>>>>>> dd352eb (inform user what reason is for not setting rt policy, inform is policy (#1705))
+#include <algorithm>
 #include <chrono>
 #include <memory>
 #include <string>
@@ -54,29 +51,21 @@ int main(int argc, char ** argv)
     {
       if (realtime_tools::has_realtime_kernel())
       {
-<<<<<<< HEAD
         if (!realtime_tools::configure_sched_fifo(kSchedPriority))
         {
-          RCLCPP_WARN(cm->get_logger(), "Could not enable FIFO RT scheduling policy");
+          RCLCPP_WARN(
+            cm->get_logger(),
+            "Could not enable FIFO RT scheduling policy: with error number <%i>(%s). See "
+            "[https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] "
+            "for details on how to enable realtime scheduling.",
+            errno, strerror(errno));
         }
       }
       else
-      {
-        RCLCPP_INFO(cm->get_logger(), "RT kernel is recommended for better performance");
-=======
-        RCLCPP_WARN(
-          cm->get_logger(),
-          "Could not enable FIFO RT scheduling policy: with error number <%i>(%s). See "
-          "[https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] "
-          "for details on how to enable realtime scheduling.",
-          errno, strerror(errno));
-      }
-      else
       {
         RCLCPP_INFO(
           cm->get_logger(), "Successful set up FIFO RT scheduling policy with priority %i.",
           kSchedPriority);
->>>>>>> dd352eb (inform user what reason is for not setting rt policy, inform is policy (#1705))
       }
 
       // for calculating sleep time