Frequently Asked Questions

At runtime, I receive warnings on setting thread priority

The priority of a thread affects how the thread is scheduled by the OS. A higher priority thread is likely to be scheduled more often and lowers the latency of its execution.

We can set the thread priority for the solver through the threadPriority attribute in the task.info file. This is set to 50 in the provided robotic examples.

Normal users cannot set priorities higher than 0 by default. To allow your linux user account to do so, you need to append the following entries to the /etc/security/limits.conf file (replacing <username> with your username):

<username>       -       rtprio           99
<username>       -       nice            -20

To allow your entire group to set higher priorities, append (replacing <groupname> with the created group name):

@<groupname>     -       rtprio           99
@<groupname>     -       nice            -20