Use isolcpus etc. to isolate some CPU's from the kernel scheduler and give it near-realtime capabilities. It will be important to consider the way thread affinity is set for low-load threads, for example both contact sensor threads could run on a single thread as the load is very low.
Most importantly, test the "pinning" behavior with the docker environment.
Use
isolcpusetc. to isolate some CPU's from the kernel scheduler and give it near-realtime capabilities. It will be important to consider the way thread affinity is set for low-load threads, for example both contact sensor threads could run on a single thread as the load is very low.Most importantly, test the "pinning" behavior with the docker environment.