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[ros2_control_node] Handle simulation environment clocks (backport #1810) #1863

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merged 4 commits into from
Nov 10, 2024
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[ros2_control_node] Handle simulation environment clocks (backport #1810) #1863

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a2527b7
[ros2_control_node] Handle simulation environment clocks (#1810)
saikishor Nov 6, 2024
7a69f41
Update release_notes.rst
christophfroehlich Nov 7, 2024
f1004d1
Use Clock instead of Rate for backward compatibility of rolling (#1864)
saikishor Nov 8, 2024
010d95f
Merge branch 'iron' into mergify/bp/iron/pr-1810
saikishor Nov 10, 2024
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13 changes: 11 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 +44,8 @@ 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);

const bool lock_memory = cm->get_parameter_or<bool>("lock_memory", true);
std::string message;
if (lock_memory && !realtime_tools::lock_memory(message))
Expand All @@ -69,7 +71,7 @@ int main(int argc, char ** argv)
thread_priority);

std::thread cm_thread(
[cm, thread_priority]()
[cm, thread_priority, use_sim_time]()
{
if (realtime_tools::has_realtime_kernel())
{
Expand Down Expand Up @@ -121,7 +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)
{
cm->get_clock()->sleep_until(current_time + period);
}
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 @@ -17,6 +17,7 @@ For details see the controller_manager section.
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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