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_sources/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst.txt

@@ -183,6 +183,17 @@ Parameters
   Description:
     List of data sources (laser scanners, pointclouds, etc...). Causes an error, if not specialized.
 
+:use_realtime_priority:
+
+  ============== =======
+  Type           Default
+  -------------- -------
+  bool           false   
+  ============== =======
+
+  Description
+    Adds soft real-time priorization to the controller server to better ensure resources to time sensitive portions of the codebase. This will set the controller's execution thread to a higher priority than the rest of the system (``90``) to meet scheduling deadlines to have less missed loop rates. To use this feature, you use set the following inside of ``/etc/security/limits.conf`` to give userspace access to elevated prioritization permissions: ``<username> soft rtprio 99 <username> hard rtprio 99``
+
 Polygons parameters
 ===================
 
@@ -454,6 +465,7 @@ Here is an example of configuration YAML for the Collision Monitor.
         source_timeout: 5.0
         base_shift_correction: True
         stop_pub_timeout: 2.0
+        use_realtime_priority: false
         polygons: ["PolygonStop", "PolygonSlow", "FootprintApproach"]
         PolygonStop:
           type: "circle"

_sources/configuration/packages/configuring-velocity-smoother.rst.txt

@@ -15,6 +15,17 @@ See the package's README for more information.
 Velocity Smoother Parameters
 ****************************
 
+:use_realtime_priority:
+
+  ============== =======
+  Type           Default
+  -------------- -------
+  bool           false   
+  ============== =======
+
+  Description
+    Adds soft real-time priorization to the controller server to better ensure resources to time sensitive portions of the codebase. This will set the controller's execution thread to a higher priority than the rest of the system (``90``) to meet scheduling deadlines to have less missed loop rates. To use this feature, you use set the following inside of ``/etc/security/limits.conf`` to give userspace access to elevated prioritization permissions: ``<username> soft rtprio 99 <username> hard rtprio 99``
+
 :smoothing_frequency:
 
   ============== ===========================
@@ -153,3 +164,4 @@ Example
       max_decel: [-2.5, 0.0, -3.2]
       odom_topic: "odom"
       odom_duration: 0.1
+      use_realtime_priority: false

_sources/migration/Iron.rst.txt

@@ -15,6 +15,8 @@ Introduction of Soft-Real Time Action Servers
     <username> soft rtprio 99
     <username> hard rtprio 99
 
+The Collision Monitor and Velocity Smoothers also had ``use_realtime_priority`` added as well!
+
 ``opennav_coverage`` Project
 ****************************
 

configuration/packages/collision_monitor/configuring-collision-monitor-node.html

@@ -1272,6 +1272,26 @@ <h2>Parameters<a class="headerlink" href="#parameters" title="Permalink to this
 </dd>
 </dl>
 </dd>
+<dt class="field-even">use_realtime_priority</dt>
+<dd class="field-even"><table class="docutils align-default">
+<colgroup>
+<col style="width: 67%" />
+<col style="width: 33%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>bool</p></td>
+<td><p>false</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>Adds soft real-time priorization to the controller server to better ensure resources to time sensitive portions of the codebase. This will set the controller’s execution thread to a higher priority than the rest of the system (<code class="docutils literal notranslate"><span class="pre">90</span></code>) to meet scheduling deadlines to have less missed loop rates. To use this feature, you use set the following inside of <code class="docutils literal notranslate"><span class="pre">/etc/security/limits.conf</span></code> to give userspace access to elevated prioritization permissions: <code class="docutils literal notranslate"><span class="pre">&lt;username&gt;</span> <span class="pre">soft</span> <span class="pre">rtprio</span> <span class="pre">99</span> <span class="pre">&lt;username&gt;</span> <span class="pre">hard</span> <span class="pre">rtprio</span> <span class="pre">99</span></code></p>
+</dd>
+</dl>
+</dd>
 </dl>
 <div class="section" id="polygons-parameters">
 <h3>Polygons parameters<a class="headerlink" href="#polygons-parameters" title="Permalink to this headline">¶</a></h3>
@@ -1740,6 +1760,7 @@ <h2>Example<a class="headerlink" href="#example" title="Permalink to this headli
 <span class="w">    </span><span class="nt">source_timeout</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">5.0</span>
 <span class="w">    </span><span class="nt">base_shift_correction</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">True</span>
 <span class="w">    </span><span class="nt">stop_pub_timeout</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">2.0</span>
+<span class="w">    </span><span class="nt">use_realtime_priority</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">false</span>
 <span class="w">    </span><span class="nt">polygons</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="s">&quot;PolygonStop&quot;</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="s">&quot;PolygonSlow&quot;</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="s">&quot;FootprintApproach&quot;</span><span class="p p-Indicator">]</span>
 <span class="w">    </span><span class="nt">PolygonStop</span><span class="p">:</span>
 <span class="w">      </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;circle&quot;</span>

configuration/packages/configuring-velocity-smoother.html

@@ -1011,9 +1011,29 @@
 <div class="section" id="velocity-smoother-parameters">
 <h2>Velocity Smoother Parameters<a class="headerlink" href="#velocity-smoother-parameters" title="Permalink to this headline">¶</a></h2>
 <dl class="field-list">
-<dt class="field-odd">smoothing_frequency</dt>
+<dt class="field-odd">use_realtime_priority</dt>
 <dd class="field-odd"><table class="docutils align-default">
 <colgroup>
+<col style="width: 67%" />
+<col style="width: 33%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p>Type</p></td>
+<td><p>Default</p></td>
+</tr>
+<tr class="row-even"><td><p>bool</p></td>
+<td><p>false</p></td>
+</tr>
+</tbody>
+</table>
+<dl class="simple">
+<dt>Description</dt><dd><p>Adds soft real-time priorization to the controller server to better ensure resources to time sensitive portions of the codebase. This will set the controller’s execution thread to a higher priority than the rest of the system (<code class="docutils literal notranslate"><span class="pre">90</span></code>) to meet scheduling deadlines to have less missed loop rates. To use this feature, you use set the following inside of <code class="docutils literal notranslate"><span class="pre">/etc/security/limits.conf</span></code> to give userspace access to elevated prioritization permissions: <code class="docutils literal notranslate"><span class="pre">&lt;username&gt;</span> <span class="pre">soft</span> <span class="pre">rtprio</span> <span class="pre">99</span> <span class="pre">&lt;username&gt;</span> <span class="pre">hard</span> <span class="pre">rtprio</span> <span class="pre">99</span></code></p>
+</dd>
+</dl>
+</dd>
+<dt class="field-even">smoothing_frequency</dt>
+<dd class="field-even"><table class="docutils align-default">
+<colgroup>
 <col style="width: 34%" />
 <col style="width: 66%" />
 </colgroup>
@@ -1031,8 +1051,8 @@ <h2>Velocity Smoother Parameters<a class="headerlink" href="#velocity-smoother-p
 </dd>
 </dl>
 </dd>
-<dt class="field-even">scale_velocities</dt>
-<dd class="field-even"><table class="docutils align-default">
+<dt class="field-odd">scale_velocities</dt>
+<dd class="field-odd"><table class="docutils align-default">
 <colgroup>
 <col style="width: 34%" />
 <col style="width: 66%" />
@@ -1051,8 +1071,8 @@ <h2>Velocity Smoother Parameters<a class="headerlink" href="#velocity-smoother-p
 </dd>
 </dl>
 </dd>
-<dt class="field-odd">feedback</dt>
-<dd class="field-odd"><table class="docutils align-default">
+<dt class="field-even">feedback</dt>
+<dd class="field-even"><table class="docutils align-default">
 <colgroup>
 <col style="width: 34%" />
 <col style="width: 66%" />
@@ -1071,8 +1091,8 @@ <h2>Velocity Smoother Parameters<a class="headerlink" href="#velocity-smoother-p
 </dd>
 </dl>
 </dd>
-<dt class="field-even">max_velocity</dt>
-<dd class="field-even"><table class="docutils align-default">
+<dt class="field-odd">max_velocity</dt>
+<dd class="field-odd"><table class="docutils align-default">
 <colgroup>
 <col style="width: 34%" />
 <col style="width: 66%" />
@@ -1091,8 +1111,8 @@ <h2>Velocity Smoother Parameters<a class="headerlink" href="#velocity-smoother-p
 </dd>
 </dl>
 </dd>
-<dt class="field-odd">min_velocity</dt>
-<dd class="field-odd"><table class="docutils align-default">
+<dt class="field-even">min_velocity</dt>
+<dd class="field-even"><table class="docutils align-default">
 <colgroup>
 <col style="width: 34%" />
 <col style="width: 66%" />
@@ -1111,8 +1131,8 @@ <h2>Velocity Smoother Parameters<a class="headerlink" href="#velocity-smoother-p
 </dd>
 </dl>
 </dd>
-<dt class="field-even">deadband_velocity</dt>
-<dd class="field-even"><table class="docutils align-default">
+<dt class="field-odd">deadband_velocity</dt>
+<dd class="field-odd"><table class="docutils align-default">
 <colgroup>
 <col style="width: 34%" />
 <col style="width: 66%" />
@@ -1131,8 +1151,8 @@ <h2>Velocity Smoother Parameters<a class="headerlink" href="#velocity-smoother-p
 </dd>
 </dl>
 </dd>
-<dt class="field-odd">velocity_timeout</dt>
-<dd class="field-odd"><table class="docutils align-default">
+<dt class="field-even">velocity_timeout</dt>
+<dd class="field-even"><table class="docutils align-default">
 <colgroup>
 <col style="width: 34%" />
 <col style="width: 66%" />
@@ -1151,8 +1171,8 @@ <h2>Velocity Smoother Parameters<a class="headerlink" href="#velocity-smoother-p
 </dd>
 </dl>
 </dd>
-<dt class="field-even">max_accel</dt>
-<dd class="field-even"><table class="docutils align-default">
+<dt class="field-odd">max_accel</dt>
+<dd class="field-odd"><table class="docutils align-default">
 <colgroup>
 <col style="width: 34%" />
 <col style="width: 66%" />
@@ -1171,8 +1191,8 @@ <h2>Velocity Smoother Parameters<a class="headerlink" href="#velocity-smoother-p
 </dd>
 </dl>
 </dd>
-<dt class="field-odd">max_decel</dt>
-<dd class="field-odd"><table class="docutils align-default">
+<dt class="field-even">max_decel</dt>
+<dd class="field-even"><table class="docutils align-default">
 <colgroup>
 <col style="width: 34%" />
 <col style="width: 66%" />
@@ -1191,8 +1211,8 @@ <h2>Velocity Smoother Parameters<a class="headerlink" href="#velocity-smoother-p
 </dd>
 </dl>
 </dd>
-<dt class="field-even">odom_topic</dt>
-<dd class="field-even"><table class="docutils align-default">
+<dt class="field-odd">odom_topic</dt>
+<dd class="field-odd"><table class="docutils align-default">
 <colgroup>
 <col style="width: 34%" />
 <col style="width: 66%" />
@@ -1211,8 +1231,8 @@ <h2>Velocity Smoother Parameters<a class="headerlink" href="#velocity-smoother-p
 </dd>
 </dl>
 </dd>
-<dt class="field-odd">odom_duration</dt>
-<dd class="field-odd"><table class="docutils align-default">
+<dt class="field-even">odom_duration</dt>
+<dd class="field-even"><table class="docutils align-default">
 <colgroup>
 <col style="width: 34%" />
 <col style="width: 66%" />
@@ -1248,6 +1268,7 @@ <h2>Example<a class="headerlink" href="#example" title="Permalink to this headli
 <span class="w">    </span><span class="nt">max_decel</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">-2.5</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">0.0</span><span class="p p-Indicator">,</span><span class="w"> </span><span class="nv">-3.2</span><span class="p p-Indicator">]</span>
 <span class="w">    </span><span class="nt">odom_topic</span><span class="p">:</span><span class="w"> </span><span class="s">&quot;odom&quot;</span>
 <span class="w">    </span><span class="nt">odom_duration</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">0.1</span>
+<span class="w">    </span><span class="nt">use_realtime_priority</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">false</span>
 </pre></div>
 </div>
 </div>

migration/Iron.html

@@ -1012,6 +1012,7 @@ <h2>Introduction of Soft-Real Time Action Servers<a class="headerlink" href="#in
 &lt;username&gt; hard rtprio 99
 </pre></div>
 </div>
+<p>The Collision Monitor and Velocity Smoothers also had <code class="docutils literal notranslate"><span class="pre">use_realtime_priority</span></code> added as well!</p>
 </div>
 <div class="section" id="opennav-coverage-project">
 <h2><code class="docutils literal notranslate"><span class="pre">opennav_coverage</span></code> Project<a class="headerlink" href="#opennav-coverage-project" title="Permalink to this headline">¶</a></h2>