Manage Overrun Toggle

[AndreasKuhner]

Is your feature request related to a problem? Please describe.
Jazzy introduced the feature for 'overrun' handling. Meaning that if a control cycle takes longer than a predefined time, it will shift the whole interval a bit to align with the underlying system.
However, for our Franka robots this premise doesn't hold. Therefore, in ros-controls/ros2_control#2529 , a toggle flag was introduced in the controller_manager of ros2_control to turn on/off this feature - for our robots this is now always turned off.
Now we were exploring the new 'async' feature (which is great!) but we figured out that the realtime_tools also had this new overrun.manage mechanism - but the toggle was not introduced yet. In our franka_ros2 repo we therefore introduced this toggle to a adapted realtime_tools (see https://github.com/frankarobotics/franka_ros2/blob/f83b24056be1001452b165037e55090b7b619f86/realtime_tools/realtime_tools/include/realtime_tools/async_function_handler.hpp#L221) s.t. it doesn't create problems.

Describe the solution you'd like
Having a toggle to turn on/off the overrun mechanism in realtime_tools.

Describe alternatives you've considered
Having our own copy of realtime_tools - not preferred :)

Additional context
Without being able to turn this overrun mechanism off, the franka_ros2 user can't work with our robots - they eventually will run into a 'communication_constraint_violation' aka the control loop is broken.

Cheers and thank you already!
Andreas

[saikishor]

Hello @AndreasKuhner!

Sure thing, we are exploring the new slave kinda mode that you can skip sleeping in the thread and rely on the read and write managing the rate. In this case, there won't be handling of the overruns. Will this approach work for you? Let us know.

Thank you!

[AndreasKuhner]

Oh wow, this sounds great! Yes, that would be amazing 🥳

Thanks already :)

[AndreasKuhner]

Hey @saikishor , what is the state on this issue? We are now also starting to run in de-synchronization for github vs. our own issues due to gazebo depending on this thing and we have our own implementation now checked in and it gets messy 😅

Cheers,
Andreas

[github-actions]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[AndreasKuhner]

Still a relevant topic :)

[AndreasKuhner]

Hi all,
it looks like that on master, this fix is present. Is it also planned to port it over to jazzy?

Cheers,
Andreas

[christophfroehlich]

which fix are you referring to?

[AndreasKuhner]

Hi @christophfroehlich ,
on the one side the fix for the realtime_tools.

But of course also about the issue for the slave kinda mode @saikishor mentioned.

Cheers,
Andreas

[christophfroehlich]

the slave kinda mode was postponed and the current solution closed because we were not 100% satisfied. Maybe @destogl @Nibanovic @saikishor can comment on the current state, or if there is a design draft or issue you can follow.

I'm not sure which fix in realtime_tools you are talking about. last change of overrun warnings in realtime_tools was #402, but this was backported to jazzy.