Skip to content

Latest commit

 

History

History
40 lines (29 loc) · 1.04 KB

README.scheduler.md

File metadata and controls

40 lines (29 loc) · 1.04 KB
Raw

Using Scheduler

Follow the instruction below to schedule for ROS node with Fixed-Priority. $(TOPDIR) represents your top working directory.

1. How to use

Please list ROS node informations you schedule in $(TOPDIR)/YAMLs/scheduler_rosch.yaml. Then, please change core, run_time, and sched_info as necessary. After that, launch ROS nodes listed in scheduler_rosch.yaml.

Required ROS node information:

  • nodename : the name of ROS node
  • core : if this node uses n cores, core is n.
  • sub_topic : topic for subscribe
  • pub_topic : topic for publish
  • run_time : the execution time
  • sched_info : scheduling parameters (i.g., core, priority, start_time, run_time). Note that core at sched_info indicates tha place to assign ROS node.

2. How to Install

$ cd $(TOPDIR)/Scheduler
$ ./install.sh

Uninstall or Re-install

$ cd $(TOPDIR)/Scheduling
$ ./uninstall.sh

If you change config or source files, please put following commond.

$ cd $(TOPDIR)/Schedluing
$ ./reinstall.sh