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Fix deprecated usage of lock_memory API #1970

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merged 5 commits into from
Dec 23, 2024
Merged

Fix deprecated usage of lock_memory API #1970

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1313dc5
Fix deprecated usage of lock_memory API
imsudiproy Dec 23, 2024
31e4957
add fix
imsudiproy Dec 23, 2024
1ec9b01
add const
imsudiproy Dec 23, 2024
9047a35
fix pre-commit
imsudiproy Dec 23, 2024
cb13095
remove diff
imsudiproy Dec 23, 2024
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9 changes: 6 additions & 3 deletions controller_manager/src/ros2_control_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,10 +61,13 @@ int main(int argc, char ** argv)

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))
if (lock_memory)
{
RCLCPP_WARN(cm->get_logger(), "Unable to lock the memory : '%s'", message.c_str());
const auto lock_result = realtime_tools::lock_memory();
if (!lock_result.first)
{
RCLCPP_WARN(cm->get_logger(), "Unable to lock the memory: '%s'", lock_result.second.c_str());
}
}

rclcpp::Parameter cpu_affinity_param;
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