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Fix the CPU affinity of the ros2_control_node (#2509) #2809

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Fix the CPU affinity of the ros2_control_node (#2509) #2809

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Fix the CPU affinity of the ros2_control_node (#2509)
saikishor Sep 3, 2025
6ea0d67
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bjin2364 Nov 13, 2025
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34 changes: 24 additions & 10 deletions controller_manager/src/ros2_control_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,16 +46,6 @@ int main(int argc, char ** argv)

const bool use_sim_time = cm->get_parameter_or("use_sim_time", false);

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());
}
}
const bool has_realtime = realtime_tools::has_realtime_kernel();
const bool lock_memory = cm->get_parameter_or<bool>("lock_memory", has_realtime);
if (lock_memory)
Expand All @@ -76,6 +66,30 @@ int main(int argc, char ** argv)
std::thread cm_thread(
[cm, thread_priority, use_sim_time]()
{
rclcpp::Parameter cpu_affinity_param;
if (cm->get_parameter("cpu_affinity", cpu_affinity_param))
{
std::vector<int> cpus = {};
if (cpu_affinity_param.get_type() == rclcpp::ParameterType::PARAMETER_INTEGER)
{
cpus = {static_cast<int>(cpu_affinity_param.as_int())};
}
else if (cpu_affinity_param.get_type() == rclcpp::ParameterType::PARAMETER_INTEGER_ARRAY)
{
const auto cpu_affinity_param_array = cpu_affinity_param.as_integer_array();
std::for_each(
cpu_affinity_param_array.begin(), cpu_affinity_param_array.end(),
[&cpus](int cpu) { cpus.push_back(static_cast<int>(cpu)); });
}
const auto affinity_result = realtime_tools::set_current_thread_affinity(cpus);
if (!affinity_result.first)
{
RCLCPP_WARN(
cm->get_logger(), "Unable to set the CPU affinity : '%s'",
affinity_result.second.c_str());
}
}

if (!realtime_tools::configure_sched_fifo(thread_priority))
{
RCLCPP_WARN(
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