I would like to understand the reason behind the following two lines for the /etc/security/limits.conf file mentioned in the documentation: https://control.ros.org/rolling/doc/ros2_control/controller_manager/doc/userdoc.html
@realtime soft priority 99
@realtime hard priority 99
These two lines alter the default scheduling priority (niceness) for the user, so that anything started as a non-realtime task will have the worst possible scheduling priority (MAX_NICE=19). Was this really the intent?
The result is that any kernel workers, system daemons etc. would end up running with a higher priority instead of equal priority to those started by the ROS launch system.
I would like to understand the reason behind the following two lines for the
/etc/security/limits.conffile mentioned in the documentation: https://control.ros.org/rolling/doc/ros2_control/controller_manager/doc/userdoc.htmlThese two lines alter the default scheduling priority (niceness) for the user, so that anything started as a non-realtime task will have the worst possible scheduling priority (
MAX_NICE=19). Was this really the intent?The result is that any kernel workers, system daemons etc. would end up running with a higher priority instead of equal priority to those started by the ROS launch system.