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@ -20,3 +20,23 @@ don't forget to set transient_local in rviz to see the map
ros2 launch bot_mini_bringup nav2.launch.py map_subscribe_transient_local:=true
ros2 launch nav2_bringup localization_launch.py map:=/home/bjorn/Documents/ros_projects/cps_bot_mini_ws/src/bot_mini_bringup/maps/cps_save_map.yaml
### Real-Time priority
Process real-time settings
These are the options that allows to configure the process real-time settings:
priority: changes the process priority and set a real-time FIFO priority. This will set the priority of the thread where the ROS 2 executor is running.
cpu-affinity: binds the application to a specific CPU core by setting a CPU mask. For example, to bind the process or thread to CPU 3 (or 2 starting from 0) we set the CPU mask to 4 (100 in binary).
lock-memory: pre-faults memory until no more page faults are seen. This usually allocated a high amount of memory so make sure there is enough memory in the system.
lock-memory-size: specifies the amount of memory we want to pre-allocate. For example lock-memory-size 100 pre-allocates 100 MB.
config-child-threads: specifies if the RMW middleware child threads will inherit the main process settings. This applies for priority and cpu-affinity options.. For example, if config-child-threads False is set, only the main thread where the ROS executor is set with the priority and cpu-affinity options. If, config-child-threads True is set, the DDS threads will also inherit the same priority and CPU affinity configuration than the main thread.
Example using ros2 launch:
ros2 launch pendulum_bringup pendulum_bringup.launch.py priority:=80 cpu-affinity:=4 lock-memory-size:=100 config-child-threads:=True
Example using the executable command line arguments:
ros2 run pendulum_demo pendulum_demo --priority 80 --cpu-affinity:=4 --lock-memory-size 100 --config-child-threads True
Source: https://github.com/ros2-realtime-demo/pendulum/blob/rolling/docs/real_time_tutorial.md