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orocos-toolchain / rtt

Orocos Real-Time Toolkit
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Orocos on raspberrypi 3b+ #330

Open chandravaran opened 3 years ago

chandravaran commented 3 years ago

Hi, So I have been working with orocos on raspberrypi 3b+ by building from sources, and I have been using it for 6 months now, and I really love using it, but I felt the need to move to using the real time capabilities, and I have been trying to get orocos working for real time applications, I have applied a Preempt-RT and ran orocos, and still I don't see it using real time, I have also applied a xenomia patch as well but no result. Then I came across the fact the we need to recompile the orocos source code with the Xenomia parameter, is this the only way?

Also is there any way of using orocos with the Preempt-RT patch

Thanks!

snrkiwi commented 3 years ago

On Jun 26, 2021, at 04:41, chandravaran @.***> wrote:

Hi, So I have been working with orocos on raspberrypi 3b+ by building from sources, and I have been using it for 6 months now, and I really love using it, but I felt the need to move to using the real time capabilities, and I have been trying to get orocos working for real time applications, I have applied a Preempt-RT and ran orocos, and still I don't see it using real time, I have also applied a xenomia patch as well but no result. Then I came across the fact the we need to recompile the orocos source code with the Xenomia parameter, is this the only way?

Also is there any way of using orocos with the Preempt-RT patch

Thanks!

If you build and run a PreemptRT kernel, then Orocos will run in real-time. Your actual real-time performance is a function of the kernel patches though, and I have no idea how real-time that is on a RaspberryPi

HTH Stephen

chandravaran commented 3 years ago

When I run the deployer is still shows me the scheduler to be ORO_SCHED_OTHER, which means that it is not using real time right?

I was thinking that If this variable changed then it would mean it is performing at real time.

So there is no requirement to recompile orocos right?

snrkiwi commented 3 years ago

On Jun 26, 2021, at 08:05, chandravaran @.***> wrote:

 When I run the deployer is still shows me the scheduler to be ORO_SCHED_OTHER, which means that it is not using real time right?

I was thinking that If this variable changed then it would mean it is performing at real time.

So there is no requirement to recompile orocos right?

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You have to set ORO_SCHED_RR or similar yourself Stephen

chandravaran commented 3 years ago

Oh okay, Thanks!