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[ros2_control_node] Add the realtime_tools lock_memory method to prevent page faults #1822

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[ros2_control_node] Add the realtime_tools lock_memory method to prevent page faults #1822

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11d89f2
add the realtime_tools lock_memory method to prevent page faults
saikishor Oct 30, 2024
3d9a4f4
Add lock_memory parameter to ros2_control_node
saikishor Oct 31, 2024
48ec00a
Use lock_memory by default
saikishor Oct 31, 2024
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7 changes: 7 additions & 0 deletions controller_manager/src/ros2_control_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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", false);
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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(
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1 change: 1 addition & 0 deletions doc/release_notes.rst
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Expand Up @@ -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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