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unitreerobotics / unitree_legged_sdk

SDK tools for control robots.
BSD 3-Clause "New" or "Revised" License
291 stars 163 forks source link

Running examples without sudo #20

Closed antonilo closed 2 years ago

antonilo commented 2 years ago

Hi, Is it somehow possible to do memory locking without sudo? Basically, I would like to run the examples without requiring sudo,

Thanks a lot in advance! Antonio

TrivasZhang commented 2 years ago

adding the following lines to /etc/security/limits.confg might allow you to run the SDK without sudo.

<username> soft memlock unlimited
<username> hard memlock unlimited
<username> soft nice eip
<username> hard nice eip

Thanks @yxyang Reference link https://github.com/yxyang/locomotion_simulation

antonilo commented 2 years ago

thanks! For me it was also necessary to add the following two lines. 

username soft rtprio 99
username hard rtprio 99