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I'm trying to figure out how to use realtime_tools (mainly realtime_publisher&realtime_buffer), but there are to few information about it. I can only find this:

#include <realtime_tools/realtime_publisher.h>

bool MyController::init(pr2_mechanism_model::RobotState *robot,
                        ros::NodeHandle &n)
{
  realtime_pub = new 
    realtime_tools::RealtimePublisher<mgs_type>(n, "topic", 4);
  return true;
}


void MyController::update()
{
  if (realtime_pub->trylock()){
    realtime_pub->msg_.a_field = "hallo";
    realtime_pub->msg_.header.stamp = ros::Time::now();
    realtime_pub->unlockAndPublish();
  }
}

Hope someone can give me more detailed help.

Thanks a lot.

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  • $\begingroup$ Please clarify your specific problem or provide additional details to highlight exactly what you need. As it's currently written, it's hard to tell exactly what you're asking. $\endgroup$
    – Community Bot
    Oct 22, 2023 at 12:03

1 Answer 1

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Welcome at RSE.

ros-control is based on a realtime-loop (update methods of the controllers and read/write methods of the hardware components, sharing data with a shared-memory layer). realtime_tools provide mechanisms to use non-realtime-safe code in this loop: E.g., publishers, or buffers exchanging data between the realtime-loop and subscriber callbacks.

It seems that you are working with ROS 1. Both, the buffer and publisher are used in several places of the ros_controllers, or in a simpler form in the control_toolbox's PID implementation

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  • $\begingroup$ Thanks for the link. I kinda figure out how to use it. what i'm curious about now is why we use it. $\endgroup$
    – joe qiu
    Oct 23, 2023 at 2:11
  • $\begingroup$ I updated the answer, maybe this helps. $\endgroup$ Oct 23, 2023 at 6:12

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