Skip to content

Don't use msg_ field of realtime publisher #1947

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 2 commits into from
Oct 5, 2025
+34 −48
Merged

Don't use msg_ field of realtime publisher #1947

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
9f5acaf
Don't use msg_ field of realtime publisher
christophfroehlich Oct 3, 2025
32a3885
Fix diff_drive tests
christophfroehlich Oct 4, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
11 changes: 5 additions & 6 deletions diff_drive_controller/src/diff_drive_controller.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -438,25 +438,24 @@ controller_interface::CallbackReturn DiffDriveController::on_configure(
const auto odom_frame_id = tf_prefix + params_.odom_frame_id;
const auto base_frame_id = tf_prefix + params_.base_frame_id;

auto & odometry_message = realtime_odometry_publisher_->msg_;
odometry_message.header.frame_id = odom_frame_id;
odometry_message.child_frame_id = base_frame_id;
odometry_message_.header.frame_id = odom_frame_id;
odometry_message_.child_frame_id = base_frame_id;

// limit the publication on the topics /odom and /tf
publish_rate_ = params_.publish_rate;
publish_period_ = rclcpp::Duration::from_seconds(1.0 / publish_rate_);

// initialize odom values zeros
odometry_message.twist =
odometry_message_.twist =
geometry_msgs::msg::TwistWithCovariance(rosidl_runtime_cpp::MessageInitialization::ALL);

constexpr size_t NUM_DIMENSIONS = 6;
for (size_t index = 0; index < 6; ++index)
{
// 0, 7, 14, 21, 28, 35
const size_t diagonal_index = NUM_DIMENSIONS * index + index;
odometry_message.pose.covariance[diagonal_index] = params_.pose_covariance_diagonal[index];
odometry_message.twist.covariance[diagonal_index] = params_.twist_covariance_diagonal[index];
odometry_message_.pose.covariance[diagonal_index] = params_.pose_covariance_diagonal[index];
odometry_message_.twist.covariance[diagonal_index] = params_.twist_covariance_diagonal[index];
}

// initialize transform publisher and message
Expand Down
52 changes: 19 additions & 33 deletions diff_drive_controller/test/test_diff_drive_controller.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -73,7 +73,13 @@ class TestableDiffDriveController : public diff_drive_controller::DiffDriveContr
{
return realtime_odometry_publisher_;
}

// Declare these tests as friends so we can access odometry_message_
FRIEND_TEST(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_no_namespace);
FRIEND_TEST(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_no_namespace);
FRIEND_TEST(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_no_namespace);
FRIEND_TEST(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_set_namespace);
FRIEND_TEST(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_set_namespace);
FRIEND_TEST(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_set_namespace);
// Declare these tests as friends so we can access controller_->reference_interfaces_
FRIEND_TEST(TestDiffDriveController, chainable_controller_unchained_mode);
FRIEND_TEST(TestDiffDriveController, chainable_controller_chained_mode);
Expand Down Expand Up @@ -311,12 +317,9 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_no_names

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);

auto odometry_message = controller_->get_rt_odom_publisher()->msg_;
std::string test_odom_frame_id = odometry_message.header.frame_id;
std::string test_base_frame_id = odometry_message.child_frame_id;
/* tf_frame_prefix_enable is false so no modifications to the frame id's */
ASSERT_EQ(test_odom_frame_id, odom_id);
ASSERT_EQ(test_base_frame_id, base_link_id);
ASSERT_EQ(controller_->odometry_message_.header.frame_id, odom_id);
ASSERT_EQ(controller_->odometry_message_.child_frame_id, base_link_id);
}

TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_no_namespace)
Expand All @@ -336,14 +339,10 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_no_namesp

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);

auto odometry_message = controller_->get_rt_odom_publisher()->msg_;
std::string test_odom_frame_id = odometry_message.header.frame_id;
std::string test_base_frame_id = odometry_message.child_frame_id;

/* tf_frame_prefix_enable is true and frame_prefix is not blank so should be appended to the frame
* id's */
ASSERT_EQ(test_odom_frame_id, frame_prefix + "/" + odom_id);
ASSERT_EQ(test_base_frame_id, frame_prefix + "/" + base_link_id);
ASSERT_EQ(controller_->odometry_message_.header.frame_id, frame_prefix + "/" + odom_id);
ASSERT_EQ(controller_->odometry_message_.child_frame_id, frame_prefix + "/" + base_link_id);
}

TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_no_namespace)
Expand All @@ -363,13 +362,10 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_no_names

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);

auto odometry_message = controller_->get_rt_odom_publisher()->msg_;
std::string test_odom_frame_id = odometry_message.header.frame_id;
std::string test_base_frame_id = odometry_message.child_frame_id;
/* tf_frame_prefix_enable is true but frame_prefix is blank so should not be appended to the frame
* id's */
ASSERT_EQ(test_odom_frame_id, odom_id);
ASSERT_EQ(test_base_frame_id, base_link_id);
ASSERT_EQ(controller_->odometry_message_.header.frame_id, odom_id);
ASSERT_EQ(controller_->odometry_message_.child_frame_id, base_link_id);
}

TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_set_namespace)
Expand All @@ -392,12 +388,9 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_false_set_name

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);

auto odometry_message = controller_->get_rt_odom_publisher()->msg_;
std::string test_odom_frame_id = odometry_message.header.frame_id;
std::string test_base_frame_id = odometry_message.child_frame_id;
/* tf_frame_prefix_enable is false so no modifications to the frame id's */
ASSERT_EQ(test_odom_frame_id, odom_id);
ASSERT_EQ(test_base_frame_id, base_link_id);
ASSERT_EQ(controller_->odometry_message_.header.frame_id, odom_id);
ASSERT_EQ(controller_->odometry_message_.child_frame_id, base_link_id);
}

TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_set_namespace)
Expand All @@ -420,14 +413,10 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_test_prefix_true_set_names

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);

auto odometry_message = controller_->get_rt_odom_publisher()->msg_;
std::string test_odom_frame_id = odometry_message.header.frame_id;
std::string test_base_frame_id = odometry_message.child_frame_id;

/* tf_frame_prefix_enable is true and frame_prefix is not blank so should be appended to the frame
* id's instead of the namespace*/
ASSERT_EQ(test_odom_frame_id, frame_prefix + "/" + odom_id);
ASSERT_EQ(test_base_frame_id, frame_prefix + "/" + base_link_id);
ASSERT_EQ(controller_->odometry_message_.header.frame_id, frame_prefix + "/" + odom_id);
ASSERT_EQ(controller_->odometry_message_.child_frame_id, frame_prefix + "/" + base_link_id);
}

TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_set_namespace)
Expand All @@ -449,14 +438,11 @@ TEST_F(TestDiffDriveController, configure_succeeds_tf_blank_prefix_true_set_name

ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);

auto odometry_message = controller_->get_rt_odom_publisher()->msg_;
std::string test_odom_frame_id = odometry_message.header.frame_id;
std::string test_base_frame_id = odometry_message.child_frame_id;
std::string ns_prefix = test_namespace.erase(0, 1) + "/";
/* tf_frame_prefix_enable is true but frame_prefix is blank so namespace should be appended to the
* frame id's */
ASSERT_EQ(test_odom_frame_id, ns_prefix + odom_id);
ASSERT_EQ(test_base_frame_id, ns_prefix + base_link_id);
ASSERT_EQ(controller_->odometry_message_.header.frame_id, ns_prefix + odom_id);
ASSERT_EQ(controller_->odometry_message_.child_frame_id, ns_prefix + base_link_id);
}

TEST_F(TestDiffDriveController, activate_fails_without_resources_assigned)
Expand Down
12 changes: 6 additions & 6 deletions force_torque_sensor_broadcaster/src/force_torque_sensor_broadcaster.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -241,32 +241,32 @@ ForceTorqueSensorBroadcaster::on_export_state_interfaces()
if (!force_names[0].empty())
{
exported_state_interfaces.emplace_back(
export_prefix, force_names[0], &realtime_raw_publisher_->msg_.wrench.force.x);
export_prefix, force_names[0], &wrench_raw_.wrench.force.x);
}
if (!force_names[1].empty())
{
exported_state_interfaces.emplace_back(
export_prefix, force_names[1], &realtime_raw_publisher_->msg_.wrench.force.y);
export_prefix, force_names[1], &wrench_raw_.wrench.force.y);
}
if (!force_names[2].empty())
{
exported_state_interfaces.emplace_back(
export_prefix, force_names[2], &realtime_raw_publisher_->msg_.wrench.force.z);
export_prefix, force_names[2], &wrench_raw_.wrench.force.z);
}
if (!torque_names[0].empty())
{
exported_state_interfaces.emplace_back(
export_prefix, torque_names[0], &realtime_raw_publisher_->msg_.wrench.torque.x);
export_prefix, torque_names[0], &wrench_raw_.wrench.torque.x);
}
if (!torque_names[1].empty())
{
exported_state_interfaces.emplace_back(
export_prefix, torque_names[1], &realtime_raw_publisher_->msg_.wrench.torque.y);
export_prefix, torque_names[1], &wrench_raw_.wrench.torque.y);
}
if (!torque_names[2].empty())
{
exported_state_interfaces.emplace_back(
export_prefix, torque_names[2], &realtime_raw_publisher_->msg_.wrench.torque.z);
export_prefix, torque_names[2], &wrench_raw_.wrench.torque.z);
}
return exported_state_interfaces;
}
Expand Down
2 changes: 1 addition & 1 deletion joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -204,7 +204,7 @@ class TestableJointTrajectoryController

control_msgs::msg::JointTrajectoryControllerState get_state_msg()
{
return state_publisher_->msg_;
return state_publisher_->get_msg();
}

/**
Expand Down
5 changes: 3 additions & 2 deletions tricycle_controller/include/tricycle_controller/tricycle_controller.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -33,8 +33,8 @@
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "nav_msgs/msg/odometry.hpp"
#include "rclcpp_lifecycle/state.hpp"
#include "realtime_tools/realtime_box.hpp"
#include "realtime_tools/realtime_publisher.hpp"
#include "realtime_tools/realtime_thread_safe_box.hpp"
#include "std_srvs/srv/empty.hpp"
#include "tf2_msgs/msg/tf_message.hpp"

Expand Down Expand Up @@ -127,7 +127,8 @@ class TricycleController : public controller_interface::ControllerInterface
bool subscriber_is_active_ = false;
rclcpp::Subscription<TwistStamped>::SharedPtr velocity_command_subscriber_ = nullptr;

realtime_tools::RealtimeBox<std::shared_ptr<TwistStamped>> received_velocity_msg_ptr_{nullptr};
realtime_tools::RealtimeThreadSafeBox<std::shared_ptr<TwistStamped>> received_velocity_msg_ptr_{
nullptr};
std::shared_ptr<TwistStamped> last_command_msg_;

rclcpp::Service<std_srvs::srv::Empty>::SharedPtr reset_odom_service_;
Expand Down