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Use preallocated feedback from JTC to avoid heap allocation #2160

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Use preallocated feedback from JTC to avoid heap allocation #2160

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3 changes: 3 additions & 0 deletions ...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -189,6 +189,9 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
rclcpp::TimerBase::SharedPtr goal_handle_timer_;
rclcpp::Duration action_monitor_period_ = rclcpp::Duration(50ms);

// Pre-allocated action feedback message to avoid heap allocation in RT loop
std::shared_ptr<FollowJTrajAction::Feedback> preallocated_feedback_;

// callback for topic interface
void topic_callback(const std::shared_ptr<trajectory_msgs::msg::JointTrajectory> msg);

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21 changes: 11 additions & 10 deletions joint_trajectory_controller/src/joint_trajectory_controller.cpp
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Expand Up @@ -367,16 +367,13 @@ controller_interface::return_type JointTrajectoryController::update(

if (active_goal)
{
// send feedback
auto feedback = std::make_shared<FollowJTrajAction::Feedback>();
feedback->header.stamp = time;
feedback->joint_names = params_.joints;

feedback->actual = state_current_;
feedback->desired = state_desired_;
feedback->error = state_error_;
feedback->index = static_cast<int32_t>(next_point_index);
active_goal->setFeedback(feedback);
// send feedback using preallocated message to avoid heap allocation in RT loop
preallocated_feedback_->header.stamp = time;
preallocated_feedback_->actual = state_current_;
preallocated_feedback_->desired = state_desired_;
preallocated_feedback_->error = state_error_;
preallocated_feedback_->index = static_cast<int32_t>(next_point_index);
active_goal->setFeedback(preallocated_feedback_);

// check abort
if (tolerance_violated_while_moving)
Expand Down Expand Up @@ -1938,6 +1935,10 @@ void JointTrajectoryController::init_hold_position_msg()
{
hold_position_msg_ptr_->points[0].effort.resize(dof_, 0.0);
}

// Pre-allocate feedback message to avoid heap allocation in RT loop
preallocated_feedback_ = std::make_shared<FollowJTrajAction::Feedback>();
preallocated_feedback_->joint_names = params_.joints;
Comment on lines +1938 to +1941
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@christophfroehlich christophfroehlich Feb 10, 2026

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This has nothing to do with the hold_position message.
let's move this to the on_configure, or rename the method.

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@saikishor saikishor Feb 10, 2026

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You are right. Sorry

}

} // namespace joint_trajectory_controller
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