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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christophfroehlich,
harderthan,
livanov93,
mamueluth,
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saikishor
christophfroehlich
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Aug 7, 2025
...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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saikishor
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Aug 7, 2025
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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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saikishor
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Aug 13, 2025
| @@ -378,6 +385,8 @@ controller_interface::CallbackReturn GripperActionController::on_activate( | |||
| pre_alloc_result_->reached_goal = false; | |||
| pre_alloc_result_->stalled = false; | |||
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| last_movement_time_.try_set(rclcpp::Time(0, 0, RCL_ROS_TIME)); | |||
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Suggested change
| last_movement_time_.try_set(rclcpp::Time(0, 0, RCL_ROS_TIME)); | |
| last_movement_time_.try_set(rclcpp::Time(0, 0, RCL_CLOCK_UNINITIALIZED)); |
Sorry, it's just this one. Initializing with ROS time is still a valid time, better set an invalid type
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@saikishor Of course! No worries. I'll commit this suggestion real quick.
May I ask what’s the main reason for this change? You don’t want the time to be valid in on_activate()? It doesn’t really matter here since in accepted_callback() we set it with last_movement_time_.set(get_node()->now());.
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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