Lock memory by defult on a realtime system setup

ros-controls · Nov 28, 2024 · 02b9dd5 · 02b9dd5
1 parent 73fe227
commit 02b9dd5
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/controller_manager/src/ros2_control_node.cpp b/controller_manager/src/ros2_control_node.cpp
@@ -59,7 +59,8 @@ int main(int argc, char ** argv)
 
   const bool use_sim_time = cm->get_parameter_or("use_sim_time", false);
 
-  const bool lock_memory = cm->get_parameter_or<bool>("lock_memory", false);
+  const bool has_realtime = realtime_tools::has_realtime_kernel();
+  const bool lock_memory = cm->get_parameter_or<bool>("lock_memory", has_realtime);
   std::string message;
   if (lock_memory && !realtime_tools::lock_memory(message))
   {