async thread name: By default component name, truncated to 15 chars

Author: Nibanovic

controller_interface/src/controller_interface_base.cpp

@@ -107,6 +107,8 @@ return_type ControllerInterfaceBase::init(
     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)
   {
@@ -265,6 +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(

hardware_interface/include/hardware_interface/hardware_info.hpp

@@ -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.

hardware_interface/src/component_parser.cpp

@@ -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
 
@@ -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);

hardware_interface/src/hardware_component_interface.cpp

@@ -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,