Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

[ros2_control_node] Handle simulation environment clocks #1810

Open
wants to merge 2 commits into
base: master
Choose a base branch
from
Open

[ros2_control_node] Handle simulation environment clocks #1810

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
2651b99
make ros2_control_node handle simulation environments
saikishor Oct 24, 2024
bb5f0f1
add release_notes
saikishor Oct 24, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
13 changes: 11 additions & 2 deletions controller_manager/src/ros2_control_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -57,10 +57,12 @@ int main(int argc, char ** argv)
auto cm = std::make_shared<controller_manager::ControllerManager>(
executor, manager_node_name, "", cm_node_options);

const bool use_sim_time = cm->get_parameter_or("use_sim_time", false);
rclcpp::Rate rate(cm->get_update_rate(), cm->get_clock());
RCLCPP_INFO(cm->get_logger(), "update rate is %d Hz", cm->get_update_rate());

std::thread cm_thread(
[cm]()
[cm, use_sim_time, &rate]()
{
if (!realtime_tools::configure_sched_fifo(kSchedPriority))
{
Expand Down Expand Up @@ -101,7 +103,14 @@ 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)
{
rate.sleep();
}
else
{
std::this_thread::sleep_until(next_iteration_time);
}
}

cm->shutdown_async_controllers_and_components();
Expand Down
1 change: 1 addition & 0 deletions doc/release_notes.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -76,6 +76,7 @@ controller_manager
* The ``--controller-type`` or ``-t`` spawner arg is removed. Now the controller type is defined in the controller configuration file with ``type`` field (`#1639 <https://github.com/ros-controls/ros2_control/pull/1639>`_).
* 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>`_).
* ``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>`_).

hardware_interface
******************
Expand Down
Loading