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Add thread renaming for components #3482

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2014c57
add missing controller async parameter declarations
Nibanovic Jul 17, 2026
8b8b7df
async thread name: By default component name, truncated to 15 chars
Nibanovic Jul 17, 2026
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12 changes: 12 additions & 0 deletions controller_interface/src/controller_interface_base.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -100,6 +100,15 @@ return_type ControllerInterfaceBase::init(
auto_declare<int>("update_rate", static_cast<int>(params.controller_manager_update_rate));
auto_declare<bool>("is_async", false);
auto_declare<int>("thread_priority", -100);

auto_declare<int>("async_parameters.thread_priority", 50);

@destogl destogl Jul 17, 2026

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

auto_declare<std::string>("async_parameters.scheduling_policy", "synchronized");
auto_declare<std::vector<int64_t>>("async_parameters.cpu_affinity", std::vector<int64_t>());
auto_declare<int>("async_parameters.execution_rate", impl_->ctrl_itf_params_.update_rate);
auto_declare<bool>("async_parameters.wait_until_initial_trigger", true);
auto_declare<bool>("async_parameters.print_warnings", true);
auto_declare<std::string>("async_parameters.thread_name", "");

}
catch (const std::exception & e)
{
Expand Down Expand Up @@ -258,6 +267,9 @@ const rclcpp_lifecycle::State & ControllerInterfaceBase::configure()
"instead.");
}
async_params.initialize(impl_->node_, "async_parameters.");
if (async_params.thread_name.empty()) {
async_params.thread_name = get_node()->get_name();
}
if (async_params.scheduling_policy == realtime_tools::AsyncSchedulingPolicy::DETACHED)
{
RCLCPP_ERROR(
Expand Down
2 changes: 2 additions & 0 deletions hardware_interface/include/hardware_interface/hardware_info.hpp
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Expand Up @@ -358,6 +358,8 @@ struct HardwareAsyncParams
std::vector<int> cpu_affinity_cores = {};
/// Whether to print warnings when the async thread doesn't meet its deadline
bool print_warnings = true;
/// Custom name for the async worker thread
std::string thread_name = "";
};

/// This structure stores information about hardware defined in a robot's URDF.
Expand Down
6 changes: 6 additions & 0 deletions hardware_interface/src/component_parser.cpp
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Expand Up @@ -76,6 +76,7 @@ constexpr const auto kThreadPriorityAttribute = "thread_priority";
constexpr const auto kAffinityCoresAttribute = "affinity";
constexpr const auto kSchedulingPolicyAttribute = "scheduling_policy";
constexpr const auto kPrintWarningsAttribute = "print_warnings";
constexpr const auto kThreadNameAttribute = "thread_name";

} // namespace

Expand Down Expand Up @@ -766,6 +767,11 @@ HardwareInfo parse_resource_from_xml(
hardware.async_params.scheduling_policy =
to_lower_case(get_attribute_value(async_it, kSchedulingPolicyAttribute, kAsyncTag));
}
if (async_it->FindAttribute(kThreadNameAttribute))
{
hardware.async_params.thread_name =
get_attribute_value(async_it, kThreadNameAttribute, kAsyncTag);
}
if (async_it->FindAttribute(kThreadPriorityAttribute))
{
hardware.async_params.thread_priority = parse_thread_priority_attribute(async_it);
Expand Down
5 changes: 5 additions & 0 deletions hardware_interface/src/hardware_component_interface.cpp
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Expand Up @@ -81,6 +81,11 @@ CallbackReturn HardwareComponentInterface::init(
async_thread_params.logger = get_logger();
async_thread_params.exec_rate = params.hardware_info.rw_rate;
async_thread_params.print_warnings = info_.async_params.print_warnings;
if (!info_.async_params.thread_name.empty()) {
async_thread_params.thread_name = info_.async_params.thread_name;
} else {
async_thread_params.thread_name = info_.name;
}
RCLCPP_INFO(
get_logger(), "Starting async handler with scheduler priority: %d and policy : %s",
info_.async_params.thread_priority,
Expand Down
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