This repository holds information on how to make a preempt_rt Linux executable using Simulink Coder with Connext DDS blocks.
Download and install this Simulink Coder target.
A simple template for a cmake project that takes links generated C-code to static RTI DDS Connext libraries
The code generated by Simulink Coder will give some errors, at least with Matlab R2020a. The fix for this is just to run the add_legacy_macros script.
Remember to add enough lockable memory in /etc/security/limits.conf.
Also use this command for adding privileges:
sudo setcap cap_sys_nice=ep my_executable