Remove Realtime Kernel Check

[bjin2364]

Looking through commit history, it seems #1142 should get the credit for implementing this change. Cherry-picking the commit was non-trivial so I'm reimplementing the logic. jazzy already has this removed, but somehow it didn't make it into humble.

Changes

• Remove the realtime kernel guard for scheduling policy. It is not a requirement for setting thread scheduling parameters.

[mergify]

@bjin2364, all pull requests must be targeted towards the master development branch.
Once merged into master, it is possible to backport to humble, but it must be in master
to have these changes reflected into new distributions.

[sea-bass]

Adding to this that it seems there have been other PRs in the past that referenced a missing backport of #1142 -- such as #1708 (review)

I know this could change default behavior on Humble, but it appears it would largely be for the better? So I hope the maintainers would consider this backport 🙏🏻

[saikishor]

Hello!

We can discuss it in today's PMC meeting and get back to you.

[codecov]

Codecov Report

❌ Patch coverage is 50.00000% with 1 line in your changes missing coverage. Please review.
✅ Project coverage is 63.69%. Comparing base (481f778) to head (0567be7).
⚠️ Report is 1 commits behind head on humble.

Files with missing lines	Patch %	Lines
controller_manager/src/ros2_control_node.cpp	50.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #2777      +/-   ##
==========================================
+ Coverage   63.66%   63.69%   +0.02%     
==========================================
  Files         116      116              
  Lines       12444    12442       -2     
  Branches     8672     8670       -2     
==========================================
+ Hits         7923     7925       +2     
+ Misses        761      757       -4     
  Partials     3760     3760              

Flag	Coverage Δ
unittests	63.69% <50.00%> (+0.02%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
controller_manager/src/ros2_control_node.cpp	66.66% <50.00%> (+2.83%)	⬆️

... and 1 file with indirect coverage changes

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[bmagyar]

The changes look good for humble. Could you please backport the documentation changes too from #1142 ? Then we are all set!

[bjin2364]

Could you please backport the documentation changes too from #1142 ?

done!

FYI I think there's another problem specific to humble branch related to setting thread affinity. Will try to patch that too in a follow-up PR if someone else doesn't get to it first.

[christophfroehlich]

Thanks. Failing tests are known to be flaky.