We're trying to port our Orocos-based software from RT_PREEMPT to
Xenomai in order to obtain better realtime performance. If we just
launch the deployer-xenomai executable, both of our components (we
have more, but I'm only trying with 2 right now) run in hard realtime
using Xenomai. However, we'd like one to not be in realtime (it will
need to access ROS, which is not realtime) and the other to be in
realtime.
How can we accomplish this?
Thank You,
Johnathan Van Why
Dynamic Robotics Laboratory
Oregon State University
Mixing realtime and non-realtime components in Xenomai deployer?
On 08/21/2012 02:21 AM, Johnathan Van Why wrote:
> We're trying to port our Orocos-based software from RT_PREEMPT to
> Xenomai in order to obtain better realtime performance. If we just
> launch the deployer-xenomai executable, both of our components (we
> have more, but I'm only trying with 2 right now) run in hard realtime
> using Xenomai. However, we'd like one to not be in realtime (it will
> need to access ROS, which is not realtime) and the other to be in
> realtime.
>
> How can we accomplish this?
I think you need to use ORO_SCHED_OTHER. See
http://www.orocos.org/stable/documentation/rtt/v2.x/doc-xml/orocos-compo...
/Sagar