Use a thread priority library from realtime_tools (#794)

Co-authored-by: Denis Štogl <[email protected]> Co-authored-by: Bence Magyar <[email protected]>
ros-controls · Nov 26, 2022 · 2a1f74e · 2a1f74e
1 parent 0cae740
commit 2a1f74e
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Showing 5 changed files with 8 additions and 85 deletions.
diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
@@ -13,6 +13,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
     hardware_interface
     pluginlib
     rclcpp
+    realtime_tools
 )
 
 find_package(ament_cmake REQUIRED)
@@ -24,7 +25,6 @@ endforeach()
 
 add_library(${PROJECT_NAME} SHARED
   src/controller_manager.cpp
-  src/realtime.cpp
 )
 target_include_directories(${PROJECT_NAME} PRIVATE include)
 ament_target_dependencies(${PROJECT_NAME} ${THIS_PACKAGE_INCLUDE_DEPENDS})
@@ -34,7 +34,9 @@ target_compile_definitions(${PROJECT_NAME} PRIVATE "CONTROLLER_MANAGER_BUILDING_
 
 add_executable(ros2_control_node src/ros2_control_node.cpp)
 target_include_directories(ros2_control_node PRIVATE include)
-target_link_libraries(ros2_control_node ${PROJECT_NAME})
+target_link_libraries(ros2_control_node
+  ${PROJECT_NAME}
+)
 ament_target_dependencies(ros2_control_node ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
 install(TARGETS ${PROJECT_NAME}
@@ -54,7 +56,6 @@ install(DIRECTORY include/
 if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)
   find_package(ros2_control_test_assets REQUIRED)
-  find_package(realtime_tools REQUIRED)
 
   add_library(test_controller SHARED test/test_controller/test_controller.cpp)
   target_include_directories(test_controller PRIVATE include)

diff --git a/controller_manager/include/controller_manager/realtime.hpp b/controller_manager/include/controller_manager/realtime.hpp
diff --git a/controller_manager/package.xml b/controller_manager/package.xml
@@ -21,12 +21,12 @@
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rcpputils</depend>
+  <depend>realtime_tools</depend>
   <depend>ros2_control_test_assets</depend>
   <depend>ros2param</depend>
   <depend>ros2run</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
-  <test_depend>realtime_tools</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/controller_manager/src/realtime.cpp b/controller_manager/src/realtime.cpp
diff --git a/controller_manager/src/ros2_control_node.cpp b/controller_manager/src/ros2_control_node.cpp
@@ -19,8 +19,8 @@
 #include <thread>
 
 #include "controller_manager/controller_manager.hpp"
-#include "controller_manager/realtime.hpp"
 #include "rclcpp/rclcpp.hpp"
+#include "realtime_tools/thread_priority.hpp"
 
 using namespace std::chrono_literals;
 
@@ -48,9 +48,9 @@ int main(int argc, char ** argv)
   std::thread cm_thread(
     [cm]()
     {
-      if (controller_manager::has_realtime_kernel())
+      if (realtime_tools::has_realtime_kernel())
       {
-        if (!controller_manager::configure_sched_fifo(kSchedPriority))
+        if (!realtime_tools::configure_sched_fifo(kSchedPriority))
         {
           RCLCPP_WARN(cm->get_logger(), "Could not enable FIFO RT scheduling policy");
         }