ros-controls / ros-controls/ros2_controllers
Avoid calling create_wall_timer each new goal, adjust realtime_tools goalhandle accordingly
Nobody has claimed this yet.
- Dominant language
- C++
- Stars
- 834
- Forks
- 530
- Avg merge
- 18h 3m
- Merged PRs (30d)
- 19
Description
https://github.com/ros-controls/ros2_controllers/pull/26
https://github.com/ros-controls/realtime_tools/pull/57
Instead of calling create_wall_timer (which starts a new thread iirc) for each new action goal, runNonRealtime should be decoupled from its object and spinning at action_monitor_rate. And this loop should be able to handle each new goal action goal sent.
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start by reviewing the linked ros2_controllers and realtime_tools pull requests, then trace create_wall_timer, runNonRealtime, and action_monitor_rate in the goal-handle implementation. Done means the monitoring loop handles each new action goal without creating a wall timer and its behavior remains correct at the configured rate.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- robotics
- Issue type
- Refactor
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 25/100