Lock memory by default on a realtime system setup (#1896)

ros-controls · Dec 4, 2024 · ec9a635 · ec9a635
1 parent 9633c41
commit ec9a635
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/controller_manager/doc/userdoc.rst b/controller_manager/doc/userdoc.rst
@@ -278,7 +278,7 @@ 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>`_

diff --git a/controller_manager/src/ros2_control_node.cpp b/controller_manager/src/ros2_control_node.cpp
@@ -56,7 +56,8 @@ int main(int argc, char ** argv)
         cm->get_logger(), "Unable to set the CPU affinity : '%s'", affinity_result.second.c_str());
     }
   }
-  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))
   {