From a60fce77ce4b4bc26af5931322da3bb51c2ad8d8 Mon Sep 17 00:00:00 2001 From: Manuel Muth Date: Wed, 28 Aug 2024 10:30:30 +0200 Subject: [PATCH] fix: the print of the information in control node was in wrong order (#1726) (cherry picked from commit caa242f72cba904b61530f2f6a5dd0a1e3ecafc8) --- controller_manager/src/ros2_control_node.cpp | 14 +++++++++++--- 1 file changed, 11 insertions(+), 3 deletions(-) diff --git a/controller_manager/src/ros2_control_node.cpp b/controller_manager/src/ros2_control_node.cpp index 8be22e2393..b2126aef28 100644 --- a/controller_manager/src/ros2_control_node.cpp +++ b/controller_manager/src/ros2_control_node.cpp @@ -60,12 +60,20 @@ int main(int argc, char ** argv) "for details on how to enable realtime scheduling.", errno, strerror(errno)); } + else + { + RCLCPP_INFO( + cm->get_logger(), "Successful set up FIFO RT scheduling policy with priority %i.", + kSchedPriority); + } } else { - RCLCPP_INFO( - cm->get_logger(), "Successful set up FIFO RT scheduling policy with priority %i.", - kSchedPriority); + RCLCPP_WARN( + cm->get_logger(), + "No real-time kernel detected on this system. See " + "[https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] " + "for details on how to enable realtime scheduling."); } // for calculating sleep time