10 lines
No EOL
817 B
Markdown
Executable file
10 lines
No EOL
817 B
Markdown
Executable file
This contains the priority_executor package that adds an Executor with deadline and chain-aware priority support.
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- `simple_timer` contains timing related functions, and a wrapper for calling some kernel scheduling functions
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- `priority_executor` contains the modified executor and some nodes to test it
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In `priority_executor`:
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- `priority_executor.cpp` subclasses `rclcpp::Executor` to allow for additional customization
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- `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.
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- `usage_example.cpp` shows how to set deadlines for callbacks and timers
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the `main` branch of this repository has the test scripts and nodes used in the paper. |