Priorities of ROS Internal Threads

asked 2019-06-21 03:57:37 -0500

zgu666 gravatar image

I found that some ROS internal threads have quite high CPU utilization, e.g., PollManager, XMLRPCManager, ShmManager, TimerManager. How are their priorities assigned? I would like to know their effect on application schedulability.

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Comments

I can't answer this authoritatively, so here is a comment: afaik and afaict there is no explicit priority specified for any of these threads.

Most of them are started here and for instance PollManager creates the boost::threadhere.

Searching for sched, priority or scheduling in ros_comm did not return any results, so it's likely no changes to thread priorities are made in libros.

But again: I'm just a user like you using GitHub search and some programming experience.

gvdhoorn gravatar imagegvdhoorn ( 2019-06-21 06:54:35 -0500 )edit