Invalid size of memlock

[KmakD]

Describe the bug
According to documentation the memlock should be set to 102400 bytes:

@realtime soft memlock 102400
@realtime hard memlock 102400

With such settings however, when starting controller manager following warning appears:

[controller_manager]: Unable to lock the memory: 'No proper privileges to lock the memory!'

If I change the limits to "unlimited", then the warning doesn't appear. Looks like the controller_manager is trying to lock memory with a greater value than 102400 bytes (higher than "hard" memlock value).

I've tested it also in docker with "docker way" of setting ulimits and the result is the same. Warning appears for value 102400 and not when "unlimited".

To Reproduce
Steps to reproduce the behavior:

1. Adjust limits in /etc/security/limits.conf
2. Run controller manager
3. Warning appears

Expected behavior
No warning, memory locked properly.

Environment:

• OS: Ubuntu
• Version: Humble (latest apt release)
• RPi 4 with custom real-time kernel