Merge pull request #56 from shuhaowu/rt-throttling

Disable RT throttling on boot
ros-realtime · Sep 1, 2022 · 9e801bd · 9e801bd
2 parents 0e187e2 + 62fcc03
commit 9e801bd
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diff --git a/image_builder/data/jammy-rt/rootfs/etc/systemd/system/rt-throttling.service b/image_builder/data/jammy-rt/rootfs/etc/systemd/system/rt-throttling.service
@@ -0,0 +1,11 @@
+[Unit]
+Description=RT throttling
+ConditionPathExists=/proc/sys/kernel/sched_rt_runtime_us
+
+[Service]
+Type=oneshot
+RemainAfterExit=yes
+ExecStart=/opt/ros2-rt-rpi4/rt-throttling
+
+[Install]
+WantedBy=multi-user.target
diff --git a/image_builder/data/jammy-rt/rootfs/opt/ros2-rt-rpi4/rt-throttling b/image_builder/data/jammy-rt/rootfs/opt/ros2-rt-rpi4/rt-throttling
@@ -0,0 +1,3 @@
+#!/bin/bash
+
+echo -1 | tee /proc/sys/kernel/sched_rt_runtime_us
diff --git a/image_builder/data/jammy-rt/scripts/phase1-target b/image_builder/data/jammy-rt/scripts/phase1-target
@@ -61,6 +61,9 @@ fi
 systemctl disable ondemand
 systemctl enable cpu-frequency
 
+# Disable rt-throttling
+systemctl enable rt-throttling
+
 # Disable unattended-upgrades
 apt remove -y unattended-upgrades