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Add docs for control.ros.org (#346)
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‎README.md‎

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Contains a set of tools that can be used from a hard realtime thread, without breaking the realtime behavior.
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Some documentation can be found at [docs.ros.org](http://docs.ros.org/en/rolling/p/realtime_tools/doc/index.html).
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Further documentation can be found at [docs.ros.org](https://control.ros.org/rolling/doc/realtime_tools/doc/index.html).
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## Contributing
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As an open-source project, we welcome each contributor, regardless of their background and experience. Pick a [PR](https://github.com/ros-controls/realtime_tools/pulls) and review it, or [create your own](https://github.com/ros-controls/realtime_tools/contribute)!
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If you are new to the project, please read the [contributing guide](https://control.ros.org/rolling/doc/contributing/contributing.html) for more information on how to get started. We are happy to help you with your first contribution.
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## Build status
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ROS2 Distro | Branch | Build status | Documentation | Package Build
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ROS2 Distro | Branch | Build status | API Documentation | Package Build
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:---------: | :----: | :----------: | :-----------: | :---------------:
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**Rolling** | [`master`](https://github.com/ros-controls/realtime_tools/tree/master) | [![Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-binary-build.yml?branch=master) <br> [![Source Build](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-source-build.yml?branch=master) <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Rdev__realtime_tools__ubuntu_noble_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Rdev__realtime_tools__ubuntu_noble_amd64/) | [API](http://docs.ros.org/en/rolling/p/realtime_tools/) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__realtime_tools__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__realtime_tools__ubuntu_noble_amd64__binary/)
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**Kilted** | [`master`](https://github.com/ros-controls/realtime_tools/tree/master) | see above <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Kdev__realtime_tools__ubuntu_noble_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Kdev__realtime_tools__ubuntu_noble_amd64/) | [API](http://docs.ros.org/en/rolling/p/realtime_tools/) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Kbin_uN64__realtime_tools__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Kbin_uN64__realtime_tools__ubuntu_noble_amd64__binary/)

‎doc/index.rst‎

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:github_url: https://github.com/ros-controls/realtime_tools/blob/{REPOS_FILE_BRANCH}/doc/index.rst
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realtime_tools
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Contains a set of tools that can be used from a hard realtime thread, without breaking the realtime behavior.
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.. include:: ../realtime_tools/doc/realtime_publisher.rst

‎doc/migration.rst‎

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:github_url: https://github.com/ros-controls/realtime_tools/blob/{REPOS_FILE_BRANCH}/doc/migration.rst
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Migration Guides: Jazzy to Kilted
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This list summarizes important changes between Jazzy (previous) and Kilted (current) releases, where changes to user code might be necessary.
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RealtimeBox
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*******************************
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* ``RealtimeBox`` is deprecated. Update your code to use ``realtime_thread_safe_box.hpp`` header, and class name ``RealtimeThreadSafeBox`` instead. (`#318 <https://github.com/ros-controls/realtime_tools/pull/318>`__, `#342 <https://github.com/ros-controls/realtime_tools/pull/342>`__).

‎doc/release_notes.rst‎

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:github_url: https://github.com/ros-controls/realtime_tools/blob/{REPOS_FILE_BRANCH}/doc/release_notes.rst
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Release Notes: Jazzy to Kilted
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This list summarizes the changes between Jazzy (previous) and Kilted (current) releases.
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RealtimeBox
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*******************************
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* ``RealtimeBox`` got renamed to ``RealtimeThreadSafeBox`` and uses real-time mutexes now (`#318 <https://github.com/ros-controls/realtime_tools/pull/318>`__, `#342 <https://github.com/ros-controls/realtime_tools/pull/342>`__).

‎realtime_tools/doc/index.rst‎

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For more information of the ros2_control framework see `control.ros.org <https://control.ros.org/>`__.
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Realtime Publisher
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------------------
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The ``realtime_tools::RealtimePublisher`` allows users that write C++ ros2_controllers to publish messages on a ROS topic from a hard realtime loop. The normal ROS publisher is not realtime safe, and should not be used from within the update loop of a realtime controller. The realtime publisher is a wrapper around the ROS publisher; the wrapper creates an extra non-realtime thread that publishes messages on a ROS topic. The example below shows a typical usage of the realtime publisher in the ``on_configure()`` (non-realtime method) and ``update()`` (realtime method) methods of a realtime controller:
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.. code-block:: cpp
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#include <realtime_tools/realtime_publisher.h>
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class MyController : public controller_interface::ControllerInterface
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{
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...
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private:
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std::shared_ptr<realtime_tools::RealtimePublisher<my_msgs::msg::MyMsg>> state_publisher_;
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std::shared_ptr<rclcpp::Publisher<my_msgs::msg::MyMsg>> s_publisher_;
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}
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controller_interface::CallbackReturn MyController::on_configure(
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const rclcpp_lifecycle::State & /*previous_state*/)
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{
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...
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s_publisher_ = get_node()->create_publisher<my_msgs::msg::MyMsg>(
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"~/status", rclcpp::SystemDefaultsQoS());
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state_publisher_ =
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std::make_unique<realtime_tools::RealtimePublisher<ControllerStateMsg>>(s_publisher_);
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...
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}
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controller_interface::return_type MyController::update(
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const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
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{
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...
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// Publish controller state
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state_publisher_->lock();
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state_publisher_->msg_ = some_msg;
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state_publisher_->unlockAndPublish();
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}
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.. include:: realtime_publisher.rst
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API documentation
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------------------

‎realtime_tools/doc/realtime_publisher.rst‎

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Realtime Publisher
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------------------
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The ``realtime_tools::RealtimePublisher`` allows users that write C++ ros2_controllers to publish messages on a ROS topic from a hard realtime loop. The normal ROS publisher is not realtime safe, and should not be used from within the update loop of a realtime controller. The realtime publisher is a wrapper around the ROS publisher; the wrapper creates an extra non-realtime thread that publishes messages on a ROS topic. The example below shows a typical usage of the realtime publisher in the ``on_configure()`` (non-realtime method) and ``update()`` (realtime method) methods of a realtime controller:
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.. code-block:: cpp
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#include <realtime_tools/realtime_publisher.hpp>
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class MyController : public controller_interface::ControllerInterface
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{
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...
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private:
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std::shared_ptr<realtime_tools::RealtimePublisher<my_msgs::msg::MyMsg>> state_publisher_;
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std::shared_ptr<rclcpp::Publisher<my_msgs::msg::MyMsg>> s_publisher_;
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}
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controller_interface::CallbackReturn MyController::on_configure(
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const rclcpp_lifecycle::State & /*previous_state*/)
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{
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...
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s_publisher_ = get_node()->create_publisher<my_msgs::msg::MyMsg>(
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"~/status", rclcpp::SystemDefaultsQoS());
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state_publisher_ =
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std::make_unique<realtime_tools::RealtimePublisher<ControllerStateMsg>>(s_publisher_);
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...
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}
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controller_interface::return_type MyController::update(
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const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
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{
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...
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// Publish controller state
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state_publisher_->lock();
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state_publisher_->msg_ = some_msg;
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state_publisher_->unlockAndPublish();
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}

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