ros2_control.patch

diff --git a/controller_manager/src/realtime.cpp b/controller_manager/src/realtime.cpp
index 7c77044..0fa5cbc 100644
--- a/controller_manager/src/realtime.cpp
+++ b/controller_manager/src/realtime.cpp
@@ -34,10 +34,7 @@ bool has_realtime_kernel()
 
 bool configure_sched_fifo(int priority)
 {
-  struct sched_param schedp;
-  memset(&schedp, 0, sizeof(schedp));
-  schedp.sched_priority = priority;
-  return !sched_setscheduler(0, SCHED_FIFO, &schedp);
+  return false;
 }
 
 }  // namespace controller_manager
diff --git a/controller_manager/src/ros2_control_node.cpp b/controller_manager/src/ros2_control_node.cpp
index b846831..ff91342 100644
--- a/controller_manager/src/ros2_control_node.cpp
+++ b/controller_manager/src/ros2_control_node.cpp
@@ -62,8 +62,9 @@ int main(int argc, char ** argv)
 
       // for calculating sleep time
       auto const period = std::chrono::nanoseconds(1'000'000'000 / cm->get_update_rate());
-      std::chrono::system_clock::time_point next_iteration_time =
-        std::chrono::system_clock::time_point(std::chrono::nanoseconds(cm->now().nanoseconds()));
+      auto const cm_now = std::chrono::nanoseconds(cm->now().nanoseconds());
+      std::chrono::time_point<std::chrono::system_clock, std::chrono::nanoseconds>
+        next_iteration_time{cm_now};
 
       // for calculating the measured period of the loop
       rclcpp::Time previous_time = cm->now();