{"action":"created","issue":{"url":"https://api.github.com/repos/ros-controls/ros_control/issues/130","labels_url":"https://api.github.com/repos/ros-controls/ros_control/issues/130/labels{/name}","comments_url":"https://api.github.com/repos/ros-controls/ros_control/issues/130/comments","events_url":"https://api.github.com/repos/ros-controls/ros_control/issues/130/events","html_url":"https://github.com/ros-controls/ros_control/issues/130","id":22769080,"number":130,"title":"Examples of realtime hardware interfaces","user":{"login":"davetcoleman","id":561060,"avatar_url":"https://avatars.githubusercontent.com/u/561060?v=3","gravatar_id":"","url":"https://api.github.com/users/davetcoleman","html_url":"https://github.com/davetcoleman","followers_url":"https://api.github.com/users/davetcoleman/followers","following_url":"https://api.github.com/users/davetcoleman/following{/other_user}","gists_url":"https://api.github.com/users/davetcoleman/gists{/gist_id}","starred_url":"https://api.github.com/users/davetcoleman/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/davetcoleman/subscriptions","organizations_url":"https://api.github.com/users/davetcoleman/orgs","repos_url":"https://api.github.com/users/davetcoleman/repos","events_url":"https://api.github.com/users/davetcoleman/events{/privacy}","received_events_url":"https://api.github.com/users/davetcoleman/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/ros-controls/ros_control/labels/question","name":"question","color":"cc317c"}],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":11,"created_at":"2013-11-16T01:00:41Z","updated_at":"2015-10-21T08:49:01Z","closed_at":null,"body":"Assuming I have already changed my Linux kernel with a real time patch like ``RT_PREEMPT``, does anyone have example hardware interfaces for ros_control that have working real time loops setup that I can use as an example? I'm fairly new to thinking about realtime constraints but have read [this article](https://rt.wiki.kernel.org/index.php/RT_PREEMPT_HOWTO#A_Realtime_.22Hello_World.22_Example) on coding a realtime example.\r\n\r\nOn a related note, we should add more robots to the [examples](http://wiki.ros.org/ros_control#Examples) section of the ros_control wiki documentation. \r\n\r\nThanks!"},"comment":{"url":"https://api.github.com/repos/ros-controls/ros_control/issues/comments/149824419","html_url":"https://github.com/ros-controls/ros_control/issues/130#issuecomment-149824419","issue_url":"https://api.github.com/repos/ros-controls/ros_control/issues/130","id":149824419,"user":{"login":"fulinx","id":7656453,"avatar_url":"https://avatars.githubusercontent.com/u/7656453?v=3","gravatar_id":"","url":"https://api.github.com/users/fulinx","html_url":"https://github.com/fulinx","followers_url":"https://api.github.com/users/fulinx/followers","following_url":"https://api.github.com/users/fulinx/following{/other_user}","gists_url":"https://api.github.com/users/fulinx/gists{/gist_id}","starred_url":"https://api.github.com/users/fulinx/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/fulinx/subscriptions","organizations_url":"https://api.github.com/users/fulinx/orgs","repos_url":"https://api.github.com/users/fulinx/repos","events_url":"https://api.github.com/users/fulinx/events{/privacy}","received_events_url":"https://api.github.com/users/fulinx/received_events","type":"User","site_admin":false},"created_at":"2015-10-21T08:49:01Z","updated_at":"2015-10-21T08:49:01Z","body":"Does PR2 only use RT_PREMPT? \r\n\r\nCan anyone post en brief example/explaination on how PR2 setup the 1KHz realtime loop?\r\n "}}