how does ros schedule nodes
how does ros schedule nodes? is this simply using the linux scheduler?
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how does ros schedule nodes? is this simply using the linux scheduler?
Yes, ROS 1 uses the linux scheduler. By default, roscpp has a background thread to handle socket activity, and processes callbacks serially on the main thread when you can ros::spin()
or ros::spinOnce()
. You can change how many threads are used by using an async spinner or multithreaded spinner.
You are free to use the linux tools for scheduling to change how linux schedules your processes or threads. (I am not sure about ROS 2 but I think it is the same).
Asked: 2019-03-25 17:56:08 -0500
Seen: 966 times
Last updated: Mar 25 '19