Changelog for package realtime_tools

4.3.0 (2025-05-25)

• Change default mutex of [RealtimeThreadSafeBox]{.title-ref} and add more aliases (#342)
• Rename RealtimeBox to RealtimeThreadsafeBox and use [prio_inherit_mutex]{.title-ref} (#318)
• export Boost dependency (#336)
• Use [Boost::boost]{.title-ref} instead of ${Boost_LIBRARIES} (#333)
• Use target_link_libraries instead of ament_target_dependencies (#331)
• Cleanup deprecated constructor of RTPublisher (#330)
• Contributors: Christoph Fröhlich, Sai Kishor Kothakota

4.2.1 (2025-05-04)

• Fix the deadlock in the destructor of RealtimePublisher (#320)
• Contributors: Sai Kishor Kothakota

4.2.0 (2025-04-06)

• Fix realtime publisher race condition upon initialization (#309)
• Move the package to a subfolder (#295)
• Use ros2_control_cmake (#293)
• Contributors: Christoph Fröhlich, Sai Kishor Kothakota

4.1.0 (2025-02-19)

• [RTPublisher] Use NON_POLLING as default for the realtime pubisher (#280)
• Bump version of pre-commit hooks (#276)
• Contributors: Sai Kishor Kothakota, github-actions[bot]

4.0.0 (2025-01-30)

• Remove deprecated code (#262)
• Remove RealtimeClock (#261)
• Install boost on jazzy as well (#273)
• Use ABI workflow from ros2_control_ci (#264)
• Improve has_realtime_kernel method (#260)
• Branch for jazzy (#263)
• Contributors: Christoph Fröhlich, Sai Kishor Kothakota

3.2.0 (2025-01-29)

• Add Lock-free Queue (#253)
• Use humble branch of control_toolbox repo (#258)
• Avoid to include windows.h in realtime_helpers.hpp (#255)
• Bump version of pre-commit hooks (#251)
• Contributors: Christoph Fröhlich, Sai Kishor Kothakota, Silvio Traversaro, github-actions[bot]

3.1.0 (2024-12-29)

• Fix ref for scheduled build (#248)
• Add realtime priority inheritance mutexes (#197)
• Deprecate RealtimeClock class (#244)
• Remove wrong comments (#240)
• Add [get_thread]{.title-ref} method to [RealtimePublisher]{.title-ref} (#228)
• sleep after starting thread to fix flaky tests (#235)
• Fix the badges in the readme (#234)
• First step towards modernizing the rt publisher (#210)
• Add missing change to .hpp for realtime_clock (#227)
• Remove duplicate downstream build workflow (#230)
• Changes after branching humble (#217)
• CI downstream build (#214)
• Contributors: Christoph Fröhlich, Lennart Nachtigall, Patrick Roncagliolo, Sai Kishor Kothakota

3.0.0 (2024-12-03)

• remove unused state_ field (#215)
• Bump version of pre-commit hooks (#213)
• Add job for clang build (#207)
• Add support to parse multiple cores for setting CPU affinity (#208)
• Adapt API style of lock_memory to match the one of the other functions (#209)
• Move the header files to [.hpp]{.title-ref} extension (#206)
• Use windows CI build (#204)
• Add downstream build CI job (#201)
• Fix RealtimeBox broken API + [realtime_box_best_effort.h]{.title-ref} proper deprecation (#202)
• Replace existing RealtimeBox implementation with RealtimeBoxBestEffort implementation (#146)
• Overloading the set_thread_affinity method for Windows compatibility (#193)
• Remove iron workflows and update readme (#184)
• Add method to get the current callback time and period (#192)
• Use pthread_setaffinity_np for setting affinity rather than sched_setaffinity (#190)
• Add the same compile flags as with ros2_controllers and fix errors (#185)
• Contributors: Christoph Fröhlich, Gilmar Correia, Lennart Nachtigall, Sai Kishor Kothakota, github-actions[bot]

2.8.1 (2024-11-05)

• Fix libcap-dev dependency (#189) Update libcap-dev dependency
• Contributors: Sai Kishor Kothakota

2.8.0 (2024-11-04)

• Add methods to set the thread affinity (#186)
• Fix pre-commit of #187 (#188)
• Removing thread_priority.hpp warning for Windows Systems (#187)
• Fix build error with clang (#183)
• Bump version of pre-commit hooks (#182)
• [AsyncFunctionHandler] return execution time in nanoseconds (#181)
• Rename thread_priority to realtime_helpers header (#178)
• Include <functional> in realtime_box_best_effort (#173)
• Bump version of pre-commit hooks (#171)
• Add fixes to the code to work for the windows systems (#180)
• Update thread_priority.cpp (#170)
• Add a helper method to lock the pages of memory in the RAM (#175)
• Contributors: Christoph Fröhlich, Felix Exner (fexner), Gilmar Correia, Luca Della Vedova, Sai Kishor Kothakota, github-actions[bot]

2.7.0 (2024-10-29)

• [AsyncFunctionHandler] Add exception handling (#172)
• Bump version of pre-commit hooks (#169)
• Contributors: Sai Kishor Kothakota, github-actions[bot]

2.6.0 (2024-08-14)

• Add Async Function Handler (#168)
• Bump version of pre-commit hooks (#167)
• [CI] Add jazzy :rocket: (#165)
• [CI] Specify runner/container images (#163)
• Add custom rosdoc2 config (#161)
• Added a new implementation of the RealtimeBox with added best effort behaviour (#139)
• [CI] Code coverage and pre-commit (#154)
• [CI] Use reusable workflows and matrix strategy (#151)
• Bump ros-tooling/action-ros-ci from 0.3.5 to 0.3.6 (#148)
• Fix RHEL workflows (#144)
• update unlock method to also include the part of the NON_POLLING (#142)
• Bump actions/upload-artifact from 4.1.0 to 4.2.0 (#143)
• [CI] Add debian workflows (#145)
• Test fix: initialize the global context to avoid runtime_error upon destruction (#128)
• Contributors: Christoph Fröhlich, Felix Exner (fexner), Lennart Nachtigall, Sai Kishor Kothakota, dependabot[bot], github-actions[bot]

2.5.0 (2023-01-28)

• Fix overriding of install (#105)
• Add missing test dependency on ament_cmake_gmock (#94)
• Contributors: Bence Magyar, Denis Štogl, Scott K Logan, Tyler Weaver

2.4.0 (2022-11-19)

• bug fix for RealtimePublisher with NON_POLLING (#85)
• ci: :construction_worker: update rhel container (#92)
• Make [thread_priority]{.title-ref} a shared library (#91)
• Contributors: Andy Zelenak, Jaron Lundwall, Yoav Fekete, Denis Štogl

2.3.0 (2022-08-26)

• Fix source-based branch names (#90)
• Fix formatting (#89)
• fix cpplint errors
• Add a library to set thread priority
• Add CI setup as for ros2_control repository.
• Contributors: Andy Zelenak, Bence Magyar, Denis Štogl

2.2.0 (2021-11-03)

• Adding new reset() function for Issue-247.
• Contributors: bailaC

2.1.1 (2021-03-21)

• Fix deprecation warnings when constructing rclcpp::Duration Since https://github.com/ros2/rclcpp/pull/1432 (upcoming in Galactic), we should not initialize with a single integer as the units are ambiguous.
• fix the mis-type error.
• Fix uninitialized variable
• Contributors: Jacob Perron, Victor Lopez, seanyen

2.1.0 (2020-07-03)

• fix msbuild warning
• address linter failures
• enable linters
• avoid deprecations
• Realtime server goal thread handle safety + additional warning fixes (#2) (#57) * Made code thread safe, fixed warnings with repeated aborts/success/cancels Fixed -reorder warning Early return
  • removed atomic
  • removed unneeded header
• use template instead
• use std::atomic instead of volatile
• Contributors: Karsten Knese, Yutaka Kondo, ddengster

2.0.0 (2019-09-09)

• Add test_depend ament_cmake_gmock
• Update CI for dashing
• Add sloretz as another author
• Typename and typos in RTPublisher
• Shorter type names
• Port RealtimeServerGoalHandle to ROS 2
• Port RealtimePublisher to ROS 2 Use test_msgs instead of std_msgs
• Box and buffer work in ROS 2 unchanged
• Port RealtimeClock to ROS 2
• Remove actionlib definitions
• Contributors: Shane Loretz

1.14.0 (2019-07-22)

• Undo action typedef changes
• Remove boost
• Clean up includes in [realtime_tools]{.title-ref} namespace
• Switch to gmock
• Remove TARGET check on tests
• Add unit test for RealtimeServerGoalHandle, RealtimePublisher, RealtimeClock, RealtimeBuffer, RealtimeBox
• Fix race where first message won't get published
• Clean up dependencies and package.xml
• Contributors: Shane Loretz

1.13.1 (2019-02-14)

• Fix actionlib regression
• Contributors: Bence Magyar

1.13.0 (2019-02-11)

• Update readme
• use this_thread::sleep_for instead of usleep (#32)
• specify RUNTIME DESTINATION for libraries (#33) needed for exporting DLLs on Windows
• Made RealtimeBuffer's copy-constructor const
• Contributors: Bence Magyar, Gennaro Raiola, James Xu, Mathias Lüdtke, Matt Reynolds

1.12.0 (2018-05-19)

• Add RealtimePublisherSharedPtr<T>
• boost::shared_ptr -> std::shared_ptr
• Contributors: Bence Magyar

1.11.0 (2017-11-06)

• Updated RT goal handle to handle cancel requests (#22)
• switch to industrial_ci (#20)
• Contributors: Mathias Lüdtke, Nick Lamprianidis

1.10.0 (2017-06-28)

• Added constructor in RTB for objects without default constructor
• Add feedback sending capability to RealtimeServerGoalHandle.
• Contributors: Bence Magyar, Aris Synodinos, Miguel Prada, graiola

1.9.1 (2015-04-30)

• RealtimeBox: Fix member doc
• Contributors: Adolfo Rodriguez Tsouroukdissian, Dave Coleman

1.9.0 (2014-05-12)

• Remove rosbuild artifacts.
• Cleaned up CMake and removed unnecessary dependencies
• Contributors: Adolfo Rodriguez Tsouroukdissian, Dave Coleman

1.8.3 (2014-02-05)

• Fix linking The library needs to be linked against roscpp and Boost thread. GCC won't complain about missing symbols for a shared library, but other linkers (like clang's) will not accept it by default.
• Added Travis support
• Renamed manifest.xml so it doesn't brek rosdep
• Contributors: Adolfo Rodriguez Tsouroukdissian, Dave Coleman, Paul Mathieu

1.8.2 (2013-08-29)

• Append newline.
• Merge pull request #4 from pal-robotics/hydro-devel Add realtime action server goal handle.
• Add realtime action server goal handle.
  • Factored out from PR2's implementation of the JointTrajectoryActionController.
• Contributors: Adolfo Rodriguez Tsouroukdissian, Austin Hendrix

1.8.1 (2013-07-29)

• Merge remote-tracking branch 'origin/master' into hydro-devel
• Merge pull request #2 from davetcoleman/master Made member vars mutable in realtime buffer to allow const read
• initialize realtime_data and non_realtime_data before dereferencing and assigning to them in copy constructor
• Added comments
• Added readFromNonRT() function, overloaded assignment and copy constructor, and made mutex mutable.
• Fix typos.
• Fix build order.
• Contributors: Austin Hendrix, Dave Coleman

1.8.0 (2013-06-25)

• Version 1.8.0
• Install channelecho.py under catkin.
• adding install targets
• adding missing manifests
• merging CMakeLists.txt files from rosbuild and catkin
• adding hybrid-buildsystem makefiles
• catkinizing, could still be cleaned up
• initialize correctly
• compile realtime clock into library
• new interface with time and duration
• support both condition and polling version to allow re-use of binaries in realtime; add realtime buffer to get data from non-RT into RT
• Make the realtime publisher realtime safe, without needing an rt_condition; we need the same binaries to work on both non-rt and rt.
• Make the realtime publisher realtime safe, without needing an rt_condition; we need the same binaries to work in both non-rt and rt.
• move realtime tools in ros control, and create empty constructors for handles
• Contributors: Austin Hendrix, Jonathan Bohren, Wim Meeussen, hiDOF