From a9e197b43b85df777af19f6e2365b0245c7a93e9 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Fri, 8 May 2026 19:23:32 +0200
Subject: [PATCH] set rt priority

---
 src/hw_node.cpp | 13 ++++++++++++-
 1 file changed, 12 insertions(+), 1 deletion(-)

diff --git a/src/hw_node.cpp b/src/hw_node.cpp
index 7f3cfab..0ac70c4 100644
--- a/src/hw_node.cpp
+++ b/src/hw_node.cpp
@@ -367,7 +367,18 @@ class A4wd3 : public rclcpp::Node {
 
 int main(int argc, char ** argv) {
 	rclcpp::init(argc, argv);
-	rclcpp::spin(std::make_shared<A4wd3>());
+	auto node = std::make_shared<A4wd3>();
+	auto spin_thread = std::thread(
+		[&]() {
+			rclcpp::spin(node);
+		});
+	struct sched_param param;
+	param.sched_priority = 10;
+	if  (pthread_setschedparam(spin_thread.native_handle(), SCHED_FIFO, &param) != 0) {
+		perror("Unable to set realtime priority");
+	}
+	spin_thread.join();
+
 	rclcpp::shutdown();
 
 	return 0;
-- 
2.39.5