diff --git a/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst b/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst index bff322d28..b2e55eb6a 100644 --- a/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst +++ b/configuration/packages/collision_monitor/configuring-collision-monitor-node.rst @@ -193,7 +193,7 @@ Parameters ============== ======= 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: `` soft rtprio 99 hard rtprio 99`` + Adds soft real-time prioritization 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: `` soft rtprio 99 hard rtprio 99`` :enable_stamped_cmd_vel: diff --git a/configuration/packages/configuring-controller-server.rst b/configuration/packages/configuring-controller-server.rst index 7223ae4dc..ede299531 100644 --- a/configuration/packages/configuring-controller-server.rst +++ b/configuration/packages/configuring-controller-server.rst @@ -34,7 +34,7 @@ Parameters ============== ======= 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: `` soft rtprio 99 hard rtprio 99`` + Adds soft real-time prioritization 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: `` soft rtprio 99 hard rtprio 99`` :action_server_result_timeout: diff --git a/configuration/packages/configuring-velocity-smoother.rst b/configuration/packages/configuring-velocity-smoother.rst index b069cd955..536613bc2 100644 --- a/configuration/packages/configuring-velocity-smoother.rst +++ b/configuration/packages/configuring-velocity-smoother.rst @@ -25,7 +25,7 @@ Velocity Smoother Parameters ============== ======= 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: `` soft rtprio 99 hard rtprio 99`` + Adds soft real-time prioritization 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: `` soft rtprio 99 hard rtprio 99`` :smoothing_frequency: diff --git a/migration/Iron.rst b/migration/Iron.rst index 3543b6c38..efec22d43 100644 --- a/migration/Iron.rst +++ b/migration/Iron.rst @@ -49,7 +49,7 @@ Now we can define a polygon's points in string that has a ``vector`_ adds soft real-time priorization to the controller server to better ensure resources to time sensitive portions of the codebase. The Simple Action Server now has a ``realtime`` input field exposed in the Controller Server via the parameter ``use_realtime_priority`` which will set the controller's execution thread to a higher priority than the rest of the system to meet scheduling deadlines. To use this feature, you use set the following inside of ``/etc/security/limits.conf`` to give userspace access to elevated prioritization permissions. This is currently only enabled in the Controller Server, who's execution thread is sensitive to scheduling priorities, but could be set with other threads in the future if found necessary. +`PR #3914 `_ adds soft real-time prioritization to the controller server to better ensure resources to time sensitive portions of the codebase. The Simple Action Server now has a ``realtime`` input field exposed in the Controller Server via the parameter ``use_realtime_priority`` which will set the controller's execution thread to a higher priority than the rest of the system to meet scheduling deadlines. To use this feature, you use set the following inside of ``/etc/security/limits.conf`` to give userspace access to elevated prioritization permissions. This is currently only enabled in the Controller Server, who's execution thread is sensitive to scheduling priorities, but could be set with other threads in the future if found necessary. .. code-block:: text