Async controller lifecycle #932
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controller_manager/include/controller_manager/controller_manager.hpp
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controller_manager/include/controller_manager/controller_manager.hpp
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Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
…er.hpp Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
controller_manager/include/controller_manager/controller_manager.hpp
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| @@ -510,6 +510,65 @@ class ControllerManager : public rclcpp::Node | |||
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| SwitchParams switch_params_; | |||
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| class ControllerThreadWrapper | |||
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I am not sure that this is the right place to add this class. Wound't make more sense to have this in a separate file in "controller_interface" package?
Also, about the name. I would call this "AsyncController" or something similar.
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Good point! I've been thinking about this for a while and my initial decision to put this in the controller manager was indeed because it results in less lines of code.
However, the reason I'm reluctant to create a ControllerInterface for this is that async controllers aren't inherently different from regular controllers, the only difference is how they are handled by thr ControllerManager - and that is really nothing more than excluding them from the control loop and accommodating the stored thread's lifecycle.
Also, if we are to implement an AsyncControllerInterface then we'd have to have an async version of the available controllers, as iirc they all inherit from the ControllerInterface class, which might be a bit tedious
controller_manager/include/controller_manager/controller_manager.hpp
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controller_manager/include/controller_manager/controller_manager.hpp
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controller_manager/include/controller_manager/controller_manager.hpp
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This PR implements the lifecycle handling of asynchronous controllers by creating a wrapper class for their threads. The threads are started in the activate function and destroyed when the controller is unloaded. For now async controllers don't do anything and are excluded from the control loop.