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Removed deprecated standalone thread_priority variable #3173

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Removed deprecated standalone thread_priority variable #3173

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9d805b6
Cleanup: Remove deprecated standalone thread_priority variable
gatetub Mar 29, 2026
bf1f6b9
Update hardware_interface/include/hardware_interface/hardware_info.hpp
gatetub Mar 29, 2026
ee92500
Update hardware_interface/include/hardware_interface/hardware_info.hpp
gatetub Mar 29, 2026
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13 changes: 1 addition & 12 deletions controller_interface/src/controller_interface_base.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -99,7 +99,6 @@ return_type ControllerInterfaceBase::init(
// no rclcpp::ParameterValue unsigned int specialization
auto_declare<int>("update_rate", static_cast<int>(params.controller_manager_update_rate));
auto_declare<bool>("is_async", false);
auto_declare<int>("thread_priority", -100);
}
catch (const std::exception & e)
{
Expand Down Expand Up @@ -246,17 +245,7 @@ const rclcpp_lifecycle::State & ControllerInterfaceBase::configure()
{
realtime_tools::AsyncFunctionHandlerParams async_params;
async_params.thread_priority = 50; // default value
const int thread_priority_param =
static_cast<int>(get_node()->get_parameter("thread_priority").as_int());
if (thread_priority_param >= 0 && thread_priority_param <= 99)
{
async_params.thread_priority = thread_priority_param;
RCLCPP_WARN(
get_node()->get_logger(),
"The parsed 'thread_priority' parameter will be deprecated and not be functional from "
"ROS 2 Lyrical Luth release. Please use the 'async_parameters.thread_priority' parameter "
"instead.");
}

async_params.initialize(impl_->node_, "async_parameters.");
if (async_params.scheduling_policy == realtime_tools::AsyncSchedulingPolicy::DETACHED)
{
Expand Down
14 changes: 0 additions & 14 deletions hardware_interface/include/hardware_interface/hardware_info.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -359,13 +359,6 @@ struct HardwareAsyncParams
};

/// This structure stores information about hardware defined in a robot's URDF.
#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable : 4996)
#else
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
struct HardwareInfo
{
/// Name of the hardware.
Expand All @@ -378,8 +371,6 @@ struct HardwareInfo
unsigned int rw_rate;
/// Component is async
bool is_async;
/// Async thread priority
[[deprecated("Use async_params instead.")]] int thread_priority;
/// Async Parameters
HardwareAsyncParams async_params;
/// Name of the pluginlib plugin of the hardware that will be loaded.
Expand Down Expand Up @@ -426,11 +417,6 @@ struct HardwareInfo
*/
std::unordered_map<std::string, joint_limits::SoftJointLimits> soft_limits;
};
#ifdef _MSC_VER
#pragma warning(pop)
#else
#pragma GCC diagnostic pop
#endif

} // namespace hardware_interface
#endif // HARDWARE_INTERFACE__HARDWARE_INFO_HPP_
63 changes: 21 additions & 42 deletions hardware_interface/src/component_parser.cpp
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@christophfroehlich christophfroehlich Mar 29, 2026

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where do these changes come from?

Please revise the changes, we only want to remove the deprecated variable and its usage.

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@gatetub gatetub Mar 29, 2026

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will changes be made to hardware_interface/include/hardware_interface/hardware_info.hpp only ? presence of thread_priority in rest files remain unchanged?

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@christophfroehlich christophfroehlich Mar 30, 2026

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I suggest removing the member variable, and go through the build errors where this variable was used ;) Please remove all the deprecation-silencing preprocessor macros added with #2644

Original file line number Diff line number Diff line change
Expand Up @@ -117,16 +117,8 @@ std::string get_attribute_value(
attr = element_it->FindAttribute(attribute_name);
if (!attr)
{
const char * name = element_it->Attribute(kNameAttribute);
if (name && std::strlen(name) > 0)
{
throw std::runtime_error(
fmt::format(
FMT_COMPILE("no attribute '{}' in '{}' tag with name '{}'"), attribute_name, tag_name,
name));
}
throw std::runtime_error(
fmt::format(FMT_COMPILE("no attribute '{}' in '{}' tag"), attribute_name, tag_name));
fmt::format(FMT_COMPILE("no attribute {} in {} tag"), attribute_name, tag_name));
}
return ros2_control::strip(element_it->Attribute(attribute_name));
}
Expand Down Expand Up @@ -345,7 +337,7 @@ int parse_thread_priority_attribute(const tinyxml2::XMLElement * elem)
* \throws std::runtime_error if a component attribute or tag is not found
*/
std::unordered_map<std::string, std::string> parse_parameters_from_xml(
const tinyxml2::XMLElement * params_it, const std::string & context_name)
const tinyxml2::XMLElement * params_it)
{
std::unordered_map<std::string, std::string> parameters;
const tinyxml2::XMLAttribute * attr;
Expand All @@ -356,10 +348,7 @@ std::unordered_map<std::string, std::string> parse_parameters_from_xml(
attr = params_it->FindAttribute(kNameAttribute);
if (!attr)
{
throw std::runtime_error(
fmt::format(
FMT_COMPILE("no parameter name attribute set in param tag{}"),
context_name.empty() ? "" : " for '" + context_name + "'"));
throw std::runtime_error("no parameter name attribute set in param tag");
}
const std::string parameter_name = ros2_control::strip(params_it->Attribute(kNameAttribute));
const std::string parameter_value =
Expand All @@ -379,7 +368,7 @@ std::unordered_map<std::string, std::string> parse_parameters_from_xml(
* \throws std::runtime_error if the interfaceType text not set in a tag
*/
hardware_interface::InterfaceInfo parse_interfaces_from_xml(
const tinyxml2::XMLElement * interfaces_it, const std::string & context_name)
const tinyxml2::XMLElement * interfaces_it)
{
hardware_interface::InterfaceInfo interface;

Expand All @@ -389,7 +378,7 @@ hardware_interface::InterfaceInfo parse_interfaces_from_xml(

// Optional min/max attributes
std::unordered_map<std::string, std::string> interface_params =
parse_parameters_from_xml(interfaces_it->FirstChildElement(kParamTag), context_name);
parse_parameters_from_xml(interfaces_it->FirstChildElement(kParamTag));
auto interface_param = interface_params.find(kMinTag);
if (interface_param != interface_params.end())
{
Expand Down Expand Up @@ -425,7 +414,7 @@ hardware_interface::InterfaceInfo parse_interfaces_from_xml(
const auto * params_it = interfaces_it->FirstChildElement(kParamTag);
if (params_it)
{
interface.parameters = parse_parameters_from_xml(params_it, context_name);
interface.parameters = parse_parameters_from_xml(params_it);
}

interface.data_type = parse_data_type_attribute(interfaces_it);
Expand Down Expand Up @@ -477,7 +466,7 @@ ComponentInfo parse_component_from_xml(const tinyxml2::XMLElement * component_it
const auto * command_interfaces_it = component_it->FirstChildElement(kCommandInterfaceTag);
while (command_interfaces_it)
{
InterfaceInfo cmd_info = parse_interfaces_from_xml(command_interfaces_it, component.name);
InterfaceInfo cmd_info = parse_interfaces_from_xml(command_interfaces_it);
cmd_info.enable_limits &= component.enable_limits;
component.command_interfaces.push_back(cmd_info);
command_interfaces_it = command_interfaces_it->NextSiblingElement(kCommandInterfaceTag);
Expand All @@ -487,7 +476,7 @@ ComponentInfo parse_component_from_xml(const tinyxml2::XMLElement * component_it
const auto * state_interfaces_it = component_it->FirstChildElement(kStateInterfaceTag);
while (state_interfaces_it)
{
InterfaceInfo state_info = parse_interfaces_from_xml(state_interfaces_it, component.name);
InterfaceInfo state_info = parse_interfaces_from_xml(state_interfaces_it);
state_info.enable_limits &= component.enable_limits;
component.state_interfaces.push_back(state_info);
state_interfaces_it = state_interfaces_it->NextSiblingElement(kStateInterfaceTag);
Expand All @@ -497,7 +486,7 @@ ComponentInfo parse_component_from_xml(const tinyxml2::XMLElement * component_it
const auto * params_it = component_it->FirstChildElement(kParamTag);
if (params_it)
{
component.parameters = parse_parameters_from_xml(params_it, component.name);
component.parameters = parse_parameters_from_xml(params_it);
}

return component;
Expand All @@ -524,25 +513,23 @@ ComponentInfo parse_complex_component_from_xml(const tinyxml2::XMLElement * comp
const auto * command_interfaces_it = component_it->FirstChildElement(kCommandInterfaceTag);
while (command_interfaces_it)
{
component.command_interfaces.push_back(
parse_interfaces_from_xml(command_interfaces_it, component.name));
component.command_interfaces.push_back(parse_interfaces_from_xml(command_interfaces_it));
command_interfaces_it = command_interfaces_it->NextSiblingElement(kCommandInterfaceTag);
}

// Parse state interfaces
const auto * state_interfaces_it = component_it->FirstChildElement(kStateInterfaceTag);
while (state_interfaces_it)
{
component.state_interfaces.push_back(
parse_interfaces_from_xml(state_interfaces_it, component.name));
component.state_interfaces.push_back(parse_interfaces_from_xml(state_interfaces_it));
state_interfaces_it = state_interfaces_it->NextSiblingElement(kStateInterfaceTag);
}

// Parse parameters
const auto * params_it = component_it->FirstChildElement(kParamTag);
if (params_it)
{
component.parameters = parse_parameters_from_xml(params_it, component.name);
component.parameters = parse_parameters_from_xml(params_it);
}

return component;
Expand Down Expand Up @@ -587,10 +574,7 @@ TransmissionInfo parse_transmission_from_xml(const tinyxml2::XMLElement * transm
const auto * type_it = transmission_it->FirstChildElement(kPluginNameTag);
if (!type_it)
{
throw std::runtime_error(
fmt::format(
FMT_COMPILE("Missing <plugin> tag of <transmission> element for '{}' in your URDF."),
transmission.name));
throw std::runtime_error("Missing <plugin> tag of <transmission> element in your URDF.");
}
transmission.type = get_text_for_element(type_it, kPluginNameTag);

Expand All @@ -614,7 +598,7 @@ TransmissionInfo parse_transmission_from_xml(const tinyxml2::XMLElement * transm
const auto * params_it = transmission_it->FirstChildElement(kParamTag);
if (params_it)
{
transmission.parameters = parse_parameters_from_xml(params_it, transmission.name);
transmission.parameters = parse_parameters_from_xml(params_it);
}

return transmission;
Expand Down Expand Up @@ -694,9 +678,8 @@ HardwareInfo parse_resource_from_xml(
hardware.type = get_attribute_value(ros2_control_it, kTypeAttribute, kROS2ControlTag);
hardware.rw_rate = parse_rw_rate_attribute(ros2_control_it);
hardware.is_async = parse_is_async_attribute(ros2_control_it);
hardware.async_params.thread_priority = hardware.is_async
? parse_thread_priority_attribute(ros2_control_it)
: std::numeric_limits<int>::max();
hardware.async_params.thread_priority = 50;

// TODO(anyone): remove this line once thread_priority is removed
#ifdef _MSC_VER
#pragma warning(push)
Expand All @@ -705,7 +688,7 @@ HardwareInfo parse_resource_from_xml(
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
hardware.thread_priority = hardware.async_params.thread_priority;

#ifdef _MSC_VER
#pragma warning(pop)
#else
Expand All @@ -722,10 +705,7 @@ HardwareInfo parse_resource_from_xml(
const auto * type_it = ros2_control_child_it->FirstChildElement(kPluginNameTag);
if (!type_it)
{
throw std::runtime_error(
fmt::format(
FMT_COMPILE("Missing <plugin> tag of <hardware> element for '{}' in your URDF."),
hardware.name));
throw std::runtime_error("Missing <plugin> tag of <hardware> element in your URDF.");
}
hardware.hardware_plugin_name =
get_text_for_element(type_it, std::string("hardware ") + kPluginNameTag);
Expand All @@ -737,7 +717,7 @@ HardwareInfo parse_resource_from_xml(
const auto * params_it = ros2_control_child_it->FirstChildElement(kParamTag);
if (params_it)
{
hardware.hardware_parameters = parse_parameters_from_xml(params_it, hardware.name);
hardware.hardware_parameters = parse_parameters_from_xml(params_it);
}
}
else if (std::string(kPropertiesTag) == ros2_control_child_it->Name())
Expand Down Expand Up @@ -769,7 +749,7 @@ HardwareInfo parse_resource_from_xml(
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
hardware.thread_priority = hardware.async_params.thread_priority;

#ifdef _MSC_VER
#pragma warning(pop)
#else
Expand Down Expand Up @@ -1033,8 +1013,7 @@ std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string &

if (!ros2_control_it)
{
throw std::runtime_error(
fmt::format(FMT_COMPILE("no '{}' tag found in the URDF"), kROS2ControlTag));
throw std::runtime_error(fmt::format(FMT_COMPILE("no {} tag"), kROS2ControlTag));
}

std::vector<HardwareInfo> hardware_info;
Expand Down
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