Adding thread attributes configuration in ROS 2 framework

smorita-esol · June 6, 2023, 10:13am

I’ve submitted two pull requests, which have been updated to add two additional items below, to the OSRF’s repositories

Thread parameter name (as string)
Sample single thread executor implementation using the thread attributes configuration feature

The pull requests are as below. And the first one has some build errors due to the dependency on the latter’s modification.

[rclcpp]

github.com/ros2/rclcpp

feat: Thread configuration prototype

ros2:rolling ← esol-community:origin/sched_param_control_for_osrf

opened 09:24AM - 06 Jun 23 UTC

smorita-esol

+1450 -11

This is a prototype implementation of RCLCPP for discussion about the thread con…figuration feature to receive and apply a set of scheduling parameters for the threads controlled by the ROS 2 executor. Our basic idea is as below. 1. Implement a new class rclcpp::thread and modify rclcpp to use it. This class has the same function set as the std::thread but also additional features to control its thread attributions. 2. Modify the rcl layer to receive a set of scheduling parameters. The parameters are described in YAML format and passed via command line parameters, environment variables, or files. 3. the rclcpp reads the parameters from rcl and applies them to each thread in the thread pool. There have been some discussions about this pull request, as below. [ROS Discourse] https://discourse.ros.org/t/adding-thread-attributes-configuration-in-ros-2-framework/30701 [ROS 2 Real-Time Working Group] https://github.com/ros-realtime/ros-realtime.github.io/issues/18

[rcl]

github.com/ros2/rcl

feat: Thread configuration prototype

ros2:rolling ← esol-community:origin/sched_param_control_for_osrf

opened 10:00AM - 06 Jun 23 UTC

smorita-esol

+1095 -0

This is a prototype implementation of RCL for discussion about the thread config…uration feature to receive and apply a set of scheduling parameters for the threads controlled by the ROS 2 executor. Our basic idea is as below. 1. Implement a new class rclcpp::thread and modify rclcpp to use it. This class has the same function set as the std::thread but also additional features to control its thread attributions. 2. Modify the rcl layer to receive a set of scheduling parameters. The parameters are described in YAML format and passed via command line parameters, environment variables, or files. 3. the rclcpp reads the parameters from rcl and applies them to each thread in the thread pool. There have been some discussions about this pull request, as below. [ROS Discourse] https://discourse.ros.org/t/adding-thread-attributes-configuration-in-ros-2-framework/30701 [ROS 2 Real-Time Working Group] https://github.com/ros-realtime/ros-realtime.github.io/issues/18

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Adding thread attributes configuration in ROS 2 framework

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