Add thread renaming for components

[Nibanovic]

Description

Note: Requires fix #3481 to be merged, so we can use async parameters on controllers properly.

Note: Requires this PR on realtime_tools to be merged as well

I was working on distributing ros2 control processing on different cores, and It was nice to rename the threads spawned by async_function_handler, as we can see them more easily in top output.

In this PR, by default we rename the thread spawned to the component name, truncated to 15 chars. Alternatively, we can give the thing a name we want.

Demo:

These are the configs for controllers/hardware and the output they produce:

This config for controllers

example_controller:
  ros__parameters:
      type: joint_trajectory_controller/JointTrajectoryController
      is_async: true
      async_parameters:
        scheduling_policy: detached
        thread_priority: 70
        cpu_affinity: [2, 3]
        thread_name: ros_ctrl_jtc

gives these logs:

[INFO] [1784294876.480348261] [controller_manager]: Configuring controller: 'example_controller'
[INFO] [1784294876.480464686] [controller_manager]: Linked async controller 'example_controller' update() to follow async hardware 'maurob_cell_robot' read().
[INFO] [1784294876.480486086] [example_controller]: Starting async handler with scheduler priority: 70
[INFO] [1784294876.480578392] [AsyncFunctionHandler]: Thread name: ros_ctrl_jtc
[INFO] [1784294876.480659950] [example_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[WARN] [1784294876.480661020] [AsyncFunctionHandler]: Async worker thread is successfully pinned to the requested CPU cores! 

And this config for hardware:

<async 
            scheduling_policy="${scheduling_policy}" 
            print_warnings="true" 
            affinity="[2,3]" 
            thread_priority="70"
            thread_name="ros_hw_kuka"
        />

gives these logs:

[INFO] [1784294875.544887049] [controller_manager]: Initialize hardware 'my_kuka_robot'
[INFO] [1784294875.544901150] [controller_manager.hardware_component.system.my_kuka_robot]: Starting async handler with scheduler priority: 70 and policy : detached
[INFO] [1784294875.545115477] [controller_manager.hardware_component.system.my_kuka_robot]: Thread name: ros_hw_kuka
[WARN] [1784294875.545272045] [controller_manager.hardware_component.system.my_kuka_robot]: Async worker thread is successfully pinned to the requested CPU cores!
[INFO] [1784294875.548283067] [controller_manager]: Successful initialization of hardware 'my_kuka_robot' 

Is this user-facing behavior change?

yes, if you muddle around with threads and real-time stuff

Did you use Generative AI?

nah

[destogl]

Can we also update this line to get output to which cores is pinned?

[WARN] [1784294875.545272045] [controller_manager.hardware_component.system.my_kuka_robot]: Async worker thread is successfully pinned to the requested CPU cores!

[destogl]

For others, this is added in #3481, so ignore it here!

[Nibanovic]

Can we also update this line to get output to which cores is pinned?

Yeah, but that is on realtime_tools. Opened a PR

[Nibanovic]

Overview of related PRs:

As per this comment, moved parameter declaraion to realtime_tools/async_function_handler_params.hpp

To sum up, this is the merging order:

1. declare missing Async parameters realtime_tools#556, to declare the parameters
2. Add missing controller async parameter declarations #3481, to call the declaration function from controller_interface_base.cpp
3. finally, this MR, to parameterize renaming of threads

Nice to have, on this topic:

Printing CPU cores we pin threads on PR: ros-controls/realtime_tools#551