From e74669d33277c47cb82828401145a35a17891288 Mon Sep 17 00:00:00 2001 From: Chris Iverach-Brereton Date: Tue, 30 Sep 2025 10:25:55 -0400 Subject: [PATCH] Set realtime priority, limits, scheduler for -platform and -manipulator services --- clearpath_robot/services/clearpath-manipulators.service | 4 ++++ clearpath_robot/services/clearpath-platform.service | 4 ++++ 2 files changed, 8 insertions(+) diff --git a/clearpath_robot/services/clearpath-manipulators.service b/clearpath_robot/services/clearpath-manipulators.service index 89ce4bb..763b315 100755 --- a/clearpath_robot/services/clearpath-manipulators.service +++ b/clearpath_robot/services/clearpath-manipulators.service @@ -7,6 +7,10 @@ After=clearpath-robot.service User=robot Type=simple ExecStart=/usr/sbin/clearpath-manipulators-start +LimitRTPRIO=infinity +LimitMEMLOCK=infinity +CPUSchedulingPolicy=fifo +CPUSchedulingPriority=50 [Install] WantedBy=clearpath-robot.service diff --git a/clearpath_robot/services/clearpath-platform.service b/clearpath_robot/services/clearpath-platform.service index f34fa67..9431d5c 100755 --- a/clearpath_robot/services/clearpath-platform.service +++ b/clearpath_robot/services/clearpath-platform.service @@ -7,6 +7,10 @@ After=clearpath-robot.service User=robot Type=simple ExecStart=/usr/sbin/clearpath-platform-start +LimitRTPRIO=infinity +LimitMEMLOCK=infinity +CPUSchedulingPolicy=fifo +CPUSchedulingPriority=50 [Install] WantedBy=clearpath-robot.service