[ros2_control_node] Add option to set the CPU affinity (#1852)

(cherry picked from commit 98f0795)

# Conflicts:
#	doc/release_notes.rst

controller_manager/src/ros2_control_node.cpp

@@ -44,6 +44,17 @@ int main(int argc, char ** argv)
 
   auto cm = std::make_shared<controller_manager::ControllerManager>(executor, manager_node_name);
 
+  const int cpu_affinity = cm->get_parameter_or<int>("cpu_affinity", -1);
+  if (cpu_affinity >= 0)
+  {
+    const auto affinity_result = realtime_tools::set_current_thread_affinity(cpu_affinity);
+    if (!affinity_result.first)
+    {
+      RCLCPP_WARN(
+        cm->get_logger(), "Unable to set the CPU affinity : '%s'", affinity_result.second.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(

doc/release_notes.rst

@@ -17,4 +17,76 @@ controller_manager
 ******************
 
 * 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>`_).
+<<<<<<< HEAD
 * 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 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>`_).
+* The ``ros2_control_node`` node has a new ``cpu_affinity`` parameter to bind the process to a specific CPU core. By default, this is not enabled. (`#1852 <https://github.com/ros-controls/ros2_control/pull/1852>`_).
+
+hardware_interface
+******************
+* A portable version for string-to-double conversion was added: ``hardware_interface::stod`` (`#1257 <https://github.com/ros-controls/ros2_control/pull/1257>`_)
+* ``test_components`` was moved to its own package (`#1325 <https://github.com/ros-controls/ros2_control/pull/1325>`_)
+* The ``ros2_control`` tag now supports parsing of the limits from the URDF into the ``HardwareInfo`` structure. More conservative limits can be defined using the ``min`` and ``max`` attributes per interface (`#1472 <https://github.com/ros-controls/ros2_control/pull/1472>`_)
+
+  .. code:: xml
+
+    <ros2_control name="RRBotSystemMutipleGPIOs" type="system">
+      <hardware>
+        <plugin>ros2_control_demo_hardware/RRBotSystemPositionOnlyHardware</plugin>
+        <param name="example_param_hw_start_duration_sec">2.0</param>
+        <param name="example_param_hw_stop_duration_sec">3.0</param>
+        <param name="example_param_hw_slowdown">2.0</param>
+      </hardware>
+      <joint name="joint1">
+        <command_interface name="position">
+          <param name="min">-1</param>
+          <param name="max">1</param>
+        </command_interface>
+        <command_interface name="velocity">
+          <limits enable="false"/>
+        </command_interface>
+        <state_interface name="position"/>
+      </joint>
+    </ros2_control>
+
+* Soft limits are also parsed from the URDF into the ``HardwareInfo`` structure for the defined joints (`#1488 <https://github.com/ros-controls/ros2_control/pull/1488>`_)
+* Access to logger and clock through ``get_logger`` and ``get_clock`` methods in ResourceManager and HardwareComponents ``Actuator``, ``Sensor`` and ``System`` (`#1585 <https://github.com/ros-controls/ros2_control/pull/1585>`_)
+* Added ``get_hardware_info`` method to the hardware components interface to access the ``HardwareInfo`` instead of accessing the variable ``info_`` directly (`#1643 <https://github.com/ros-controls/ros2_control/pull/1643>`_)
+* With (`#1683 <https://github.com/ros-controls/ros2_control/pull/1683>`_) the ``rclcpp_lifecycle::State & get_state()`` and ``void set_state(const rclcpp_lifecycle::State & new_state)`` are replaced by ``rclcpp_lifecycle::State & get_lifecycle_state()`` and ``void set_lifecycle_state(const rclcpp_lifecycle::State & new_state)``. This change affects controllers and hardware. This is related to (`#1240 <https://github.com/ros-controls/ros2_control/pull/1240>`_) as variant support introduces ``get_state`` and ``set_state`` methods for setting/getting state of handles.
+* With (`#1421 <https://github.com/ros-controls/ros2_control/pull/1421>`_) a key-value storage is added to InterfaceInfo. This allows to define extra params with per Command-/StateInterface in the ``.ros2_control.xacro`` file.
+
+joint_limits
+************
+* Add header to import limits from standard URDF definition (`#1298 <https://github.com/ros-controls/ros2_control/pull/1298>`_)
+
+Adaption of Command-/StateInterfaces
+***************************************
+Changes from `(PR #1688) <https://github.com/ros-controls/ros2_control/pull/1688>`_ for an overview of related changes and discussion refer to `(PR #1240) <https://github.com/ros-controls/ros2_control/pull/1240>`_.
+
+* ``Command-/StateInterfaces`` are now created and exported automatically by the framework via the ``on_export_command_interfaces()`` or ``on_export_state_interfaces()`` methods based on the interfaces defined in the ``ros2_control`` XML-tag, which gets parsed and the ``InterfaceDescription`` is created accordingly (check the `hardware_info.hpp <https://github.com/ros-controls/ros2_control/tree/{REPOS_FILE_BRANCH}/hardware_interface/include/hardware_interface/hardware_info.hpp>`__).
+* The memory for storing the value of a ``Command-/StateInterfaces`` is no longer allocated in the hardware but instead in the ``Command-/StateInterfaces`` itself.
+* To access the automatically created ``Command-/StateInterfaces`` we provide the ``std::unordered_map<std::string, InterfaceDescription>``, where the string is the fully qualified name of the interface and the ``InterfaceDescription`` is the configuration of the interface. The ``std::unordered_map<>`` are divided into ``type_state_interfaces_`` and ``type_command_interfaces_`` where type can be: ``joint``, ``sensor``, ``gpio`` and ``unlisted``. E.g. the ``CommandInterfaces`` for all joints can be found in the  ``joint_command_interfaces_`` map. The ``unlisted`` includes all interfaces not listed in the ``ros2_control`` XML-tag but were created by overriding the ``export_unlisted_command_interfaces()`` or ``export_unlisted_state_interfaces()`` function by creating some custom ``Command-/StateInterfaces``.
+
+
+ros2controlcli
+**************
+* Spawner colours were added to ``list_controllers`` depending upon active or inactive (`#1409 <https://github.com/ros-controls/ros2_control/pull/1409>`_)
+* The ``set_hardware_component_state`` verb was added (`#1248 <https://github.com/ros-controls/ros2_control/pull/1248>`_). Use the following command to set the state of a hardware component
+
+  .. code-block:: bash
+
+    ros2 control set_hardware_component_state <hardware_component_name> <state>
+
+* The ``load_controller`` now supports parsing of the params file (`#1703 <https://github.com/ros-controls/ros2_control/pull/1703>`_).
+
+  .. code-block:: bash
+
+    ros2 control load_controller <controller_name> <realtive_or_absolute_file_path>
+
+* All the ros2controlcli verbs now support the namespacing through the ROS 2 standard way (`#1703 <https://github.com/ros-controls/ros2_control/pull/1703>`_).
+
+  .. code-block:: bash
+
+    ros2 control <verb> <arguments> --ros-args -r __ns:=<namespace>
+>>>>>>> 98f0795 ([ros2_control_node] Add option to set the CPU affinity  (#1852))