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Infrom user why rt policy could not be set, infrom if is set. (backport #1705) #1709

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merged 2 commits into from
Aug 22, 2024
Merged

Infrom user why rt policy could not be set, infrom if is set. (backport #1705) #1709

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7d74f2e
inform user what reason is for not setting rt policy, inform is polic…
mamueluth Aug 22, 2024
f095128
Fixe merge conflicts
christophfroehlich Aug 22, 2024
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12 changes: 10 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 @@ -12,6 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include <errno.h>
#include <algorithm>
#include <chrono>
#include <memory>
Expand Down Expand Up @@ -52,12 +53,19 @@ int main(int argc, char ** argv)
{
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_INFO(
cm->get_logger(), "Successful set up FIFO RT scheduling policy with priority %i.",
kSchedPriority);
}

// for calculating sleep time
Expand Down
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