README
realtime_tools
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Description
Contains a set of tools that can be used from a hard realtime thread, without breaking the realtime behavior.
This package provides a collection of thread-safe, lock-free data structures and utilities designed for real-time robotics applications. It includes real-time publishers, buffers, mutexes, and goal handles that ensure deterministic performance suitable for hard real-time control loops. These tools are essential for ros2_control and other time-critical robotics applications where breaking real-time constraints could lead to system instability.
Key components include:
Realtime Publisher: Lock-free publisher for real-time threads
Realtime Buffer: Thread-safe buffer for data exchange between real-time and non-real-time threads
Lock-free Queue: FIFO queue implementation without locks
Realtime Mutex: Mutexes suitable for real-time usage
Async Function Handler: Execute non-real-time functions from real-time context
Realtime Server Goal Handle: Action server goal handling for real-time threads
Maintainers
Bence Magyar (bence.magyar.robotics@gmail.com)
Denis Štogl (denis@stoglrobotics.de)
License
3-Clause BSD