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Kurt Wilson 2024-11-09 14:30:45 -05:00
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This contains the priority_executor package that adds an Executor with deadline and chain-aware priority support.
- `simple_timer` contains timing related functions, and a wrapper for calling some kernel scheduling functions
- `priority_executor` contains the modified executor and some nodes to test it
In `priority_executor`:
- `priority_executor.cpp` subclasses `rclcpp::Executor` to allow for additional customization
- `priority_memory_strategy.hpp` is a modified version of `rclcpp`s `allocator_memory_strategy.hpp` that selects callbacks based on either the earliest deadline, or a relative priority. Executor polls this for ready callbacks.
- `usage_example.cpp` shows how to set deadlines for callbacks and timers
the `main` branch of this repository has the test scripts and nodes used in the paper.
This contains the priority_executor package that adds an Executor with deadline and chain-aware priority support. The current usage example is out-of-date