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Adapt lock_memory API style #1892

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Adapt lock_memory API style #1892

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9 changes: 6 additions & 3 deletions controller_manager/src/ros2_control_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,10 +60,13 @@ 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);
std::string message;
if (lock_memory && !realtime_tools::lock_memory(message))
if (lock_memory)
{
RCLCPP_WARN(cm->get_logger(), "Unable to lock the memory : '%s'", message.c_str());
auto lock_result = realtime_tools::lock_memory();
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Suggested change
auto lock_result = realtime_tools::lock_memory();
const auto lock_result = realtime_tools::lock_memory();

if (!lock_result.first)
{
RCLCPP_WARN(cm->get_logger(), "Unable to lock the memory : '%s'", lock_result.second.c_str());
}
}

const int cpu_affinity = cm->get_parameter_or<int>("cpu_affinity", -1);
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