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Lock memory by default on a realtime system setup #1896

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merged 3 commits into from
Dec 4, 2024
Merged

Lock memory by default on a realtime system setup #1896

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02b9dd5
Lock memory by defult on a realtime system setup
saikishor Nov 28, 2024
04d93b1
update userdoc
saikishor Nov 28, 2024
64d0dc6
Merge branch 'master' into realtime_setup/lock_memory
saikishor Nov 29, 2024
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2 changes: 1 addition & 1 deletion controller_manager/doc/userdoc.rst
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Expand Up @@ -341,7 +341,7 @@ The controller_manager can be launched with the ros2_control_node executable. Th

The ros2_control_node executable uses the following parameters from the ``controller_manager`` node:

lock_memory (optional; bool; default: false)
lock_memory (optional; bool; default: false for a non-realtime kernel, true for a realtime kernel)
Locks the memory of the ``controller_manager`` node at startup to physical RAM in order to avoid page faults
and to prevent the node from being swapped out to disk.
Find more information about the setup for memory locking in the following link : `How to set ulimit values <https://access.redhat.com/solutions/61334>`_
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3 changes: 2 additions & 1 deletion controller_manager/src/ros2_control_node.cpp
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Expand Up @@ -59,7 +59,8 @@ int main(int argc, char ** argv)

const bool use_sim_time = cm->get_parameter_or("use_sim_time", false);

const bool lock_memory = cm->get_parameter_or<bool>("lock_memory", false);
const bool has_realtime = realtime_tools::has_realtime_kernel();
const bool lock_memory = cm->get_parameter_or<bool>("lock_memory", has_realtime);
std::string message;
if (lock_memory && !realtime_tools::lock_memory(message))
{
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