ros-controls/ros2_controllers

controllers hardly use realtime_tools, they should

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#302 opened on Feb 25, 2022

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good second issuehelp wanted

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Description

realtime_tools was not ported really well which led to little adoption of it in the new controllers.

Once we have https://github.com/ros-controls/realtime_tools/issues/81 completed, the controllers should be reviewed & refactored to make use of realtime_tools.

Contributor guide

Research direction
Investigate the realtime tools issue #81 for completion. Then review the controller source files to identify where realtime tools are missing. Refactor each controller to use the realtime tools library appropriately, ensuring thread safety and real time performance.
Tech stack
cpp
Domain
backend
Issue type
Refactor
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-2 days
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Blocked
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Mostly clear
Prerequisites
GitC++ROS2
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
40