Welcome to the documentation for realtime_tools
===============================================

Contains a set of tools that can be used from a hard realtime thread, without breaking the realtime behavior.

For more information of the ros2_control framework see `control.ros.org <https://control.ros.org/>`__.

.. include:: realtime_publisher.rst

API documentation
------------------

.. toctree::
   :maxdepth: 2

   C++ API <generated/index>


Indices and Search
==================

* :ref:`genindex`
* :ref:`search`