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Hi Marcus,

The update() call of you controller is the only thing which executes in the realtime thread. Everything else (including init() and any ROS callbacks) executes in a different, concurrent, non-realtime thread.

Normal ROS publishers are absolutely NOT realtime safe. The RealtimePublisher in realtime_tools is realtime safe.

Hi Marcus,

The update() call of you your controller is the only thing which executes in the realtime thread. Everything else (including init() and any ROS callbacks) executes in a different, concurrent, non-realtime thread.

Normal ROS publishers are absolutely NOT realtime safe. The RealtimePublisher in realtime_tools is realtime safe.

Hi Marcus,

The update(), starting(), and stopping() call calls of your controller is are the only thing methods which executes execute in the realtime thread. Everything else (including init() and any ROS callbacks) executes in a different, concurrent, non-realtime thread.

Normal ROS publishers are absolutely NOT realtime safe. The RealtimePublisher in realtime_tools is realtime safe.

Edit: forgot that starting() and stopping() both run in realtime.