Implement realtime-safe stall detection for parallel gripper controller #1855
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Convert last_movement_time_ from direct rclcpp::Time to RealtimeThreadSafeBox to ensure thread-safe communication between realtime and non-realtime contexts. Changes: - Replace rclcpp::Time last_movement_time_ with RealtimeThreadSafeBox<rclcpp::Time> - Initialize RealtimeThreadSafeBox in on_activate() method Fixes potential realtime violations in gripper stall timeout mechanism.
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saikishor
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...r_controller/include/parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp
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## master #1855 +/- ##
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- Coverage 85.98% 85.97% -0.02%
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Files 129 129
Lines 13112 13116 +4
Branches 1144 1144
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+ Hits 11275 11276 +1
- Misses 1469 1472 +3
Partials 368 368
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added 2 commits
August 7, 2025 12:52
Replace blocking set() with non-blocking try_set() for last_movement_time_ initialization in on_activate() method, as this lifecycle callback can be executed from the realtime thread in some ROS2 control implementations.
Use try_get/try_set for rt_active_goal_ operations in check_for_success() since this method runs in the realtime control loop. Prevents potential blocking during goal completion and stall detection.
...r_controller/include/parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp
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Aug 13, 2025
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Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com>
ashwinsushil
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Aug 19, 2025
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Aug 21, 2025
christophfroehlich
merged commit 14c4cc4
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Convert last_movement_time_ from direct rclcpp::Time to RealtimeThreadSafeBox to ensure thread-safe communication between realtime and non-realtime contexts.
Changes:
Fixes potential realtime violations in gripper stall timeout mechanism.
closes #1853