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Is the realtime lost if I use ROS_INFO inside a ros_control controller update method or inside a ros_control hardware interface write/read method?
yes.
| | 2 | No.2 Revision |
Is the realtime lost if I use ROS_INFO inside a ros_control controller update method or inside a ros_control hardware interface write/read method?
yes. It depends / probably.
In the end, ROS_INFO(..) gets expanded to ROSCONSOLE_PRINT_AT_LOCATION_WITH_FILTER(filter, ...) which calls ::ros::console::print(..) which in the end makes use of either printf(..), fprintf(..) or a function in that group and/or calls upon one of the backends (glog, log4cxx) to do the work.
Unless a custom implementation of the printf(..) family is used, calling it typically results in loss of determinism. Xenomai wraps printf(..) and could work-around this. Not sure about RT-PREEMPT.
But apart from that there are multiple places where objects are instantiated and functions in various libraries are called. Those are also a bit suspect.
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