Use SCHED_FIFO for controller_manager's main thread #719
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Previous investigations showed that using FIFO scheduling helps keeping cycle times also non non-RT kernels. This combined with non-blocking read can result in a very stable system. This is, in fact, very close to what the actual controller_manager_node does except that we always use FIFO scheduling independent of the actual kernel in use.
RobertWilbrandt
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Jun 20, 2023
Yes, I'll try to push FIFO scheduling into controller_manager, but I wanted to have it running here, before. |
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@Mergifyio backport humble |
✅ Backports have been created
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Previous investigations showed that using FIFO scheduling helps keeping cycle times also non non-RT kernels. This combined with non-blocking read can result in a very stable system. This is, in fact, very close to what the actual controller_manager_node does except that we always use FIFO scheduling independent of the actual kernel in use. (cherry picked from commit 39b61b5)
fmauch
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Previous investigations showed that using FIFO scheduling helps keeping cycle times also non non-RT kernels. This combined with non-blocking read can result in a very stable system. This is, in fact, very close to what the actual controller_manager_node does except that we always use FIFO scheduling independent of the actual kernel in use. (cherry picked from commit 39b61b5) Co-authored-by: Felix Exner (fexner) <exner@fzi.de>
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Previous investigations showed that using FIFO scheduling helps keeping cycle times also non non-RT kernels. This combined with non-blocking read can result in a very stable system.
This is, in fact, very close to what the actual controller_manager_node does except that we always use FIFO scheduling independent of the actual kernel in use.