Use ParamListener::try_get_params to Avoid Blocking in Real-Time Contexts #1198
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saikishor
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@KentaKato Thank you for propagating these nice changes into the ros2_controllers.
We would need to wait for the generate_parameter_library to be released in the distros before merging this.
Thank you
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Started a "tracking issue" for this ;) |
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@saikishor @bmagyar Thank you! |
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Due to the potential blocking risk associated with ParamListener::get_params, it is advisable to avoid its usage in real-time contexts. The method, defined here, can lead to delays that are unsuitable for time-sensitive operations.
As an alternative, I have switched to using ParamListener::try_get_params, which does not carry the risk of blocking. This non-blocking approach ensures better performance in real-time scenarios. You can find the implementation here.