humble -> rolling, ubuntu 22.04 -> 24.04 (#180)

.github/CONTRIBUTING.md

@@ -13,7 +13,7 @@ Contributions are vital to this project. If you want to contribute a feature / f
 
 1. Open an issue:
   - Explain the issue and your solution
-  - Request a new branch: `dev-<ros_version>-<feature>`, e.g. `dev-humble-my-new-demo`
+  - Request a new branch: `dev-<ros_version>-<feature>`, e.g. `dev-rolling-my-new-demo`
 2. Fork this repository
 3. Create a [pull request](https://github.com/lbr-stack/lbr_fri_ros2_stack/pulls) against `dev-<ros_version>-<feature>`
 

.github/workflows/build-ubuntu-22.04-fri-1.11.yml → .github/workflows/build-ubuntu-24.04-fri-1.11.yml

@@ -1,8 +1,8 @@
-name: build-ubuntu-22.04-fri-1.11
+name: ubuntu-24.04-fri-1.11
 on:
   pull_request:
     branches:
-      - humble
+      - rolling
   workflow_dispatch:
   schedule:
     - cron: "0 0 * * 0"
@@ -11,5 +11,5 @@ jobs:
   build:
     uses: ./.github/workflows/build.yml
     with:
-      os: ubuntu-22.04
+      os: ubuntu-24.04
       fri_version: 1.11

.github/workflows/build-ubuntu-22.04-fri-1.14.yml → .github/workflows/build-ubuntu-24.04-fri-1.14.yml

@@ -1,8 +1,8 @@
-name: build-ubuntu-22.04-fri-1.14
+name: ubuntu-24.04-fri-1.14
 on:
   pull_request:
     branches:
-      - humble
+      - rolling
   workflow_dispatch:
   schedule:
     - cron: "0 0 * * 0"
@@ -11,5 +11,5 @@ jobs:
   build:
     uses: ./.github/workflows/build.yml
     with:
-      os: ubuntu-22.04
+      os: ubuntu-24.04
       fri_version: 1.14

.github/workflows/build-ubuntu-22.04-fri-1.15.yml → .github/workflows/build-ubuntu-24.04-fri-1.15.yml

@@ -1,8 +1,8 @@
-name: build-ubuntu-22.04-fri-1.15
+name: ubuntu-24.04-fri-1.15
 on:
   pull_request:
     branches:
-      - humble
+      - rolling
   workflow_dispatch:
   schedule:
     - cron: "0 0 * * 0"
@@ -11,5 +11,5 @@ jobs:
   build:
     uses: ./.github/workflows/build.yml
     with:
-      os: ubuntu-22.04
+      os: ubuntu-24.04
       fri_version: 1.15

.github/workflows/build-ubuntu-22.04-fri-1.16.yml → .github/workflows/build-ubuntu-24.04-fri-1.16.yml

@@ -1,8 +1,8 @@
-name: build-ubuntu-22.04-fri-1.16
+name: ubuntu-24.04-fri-1.16
 on:
   pull_request:
     branches:
-      - humble
+      - rolling
   workflow_dispatch:
   schedule:
     - cron: "0 0 * * 0"
@@ -11,5 +11,5 @@ jobs:
   build:
     uses: ./.github/workflows/build.yml
     with:
-      os: ubuntu-22.04
+      os: ubuntu-24.04
       fri_version: 1.16

.github/workflows/build-ubuntu-22.04-fri-2.5.yml → .github/workflows/build-ubuntu-24.04-fri-2.5.yml

@@ -1,8 +1,8 @@
-name: build-ubuntu-22.04-fri-2.5
+name: ubuntu-24.04-fri-2.5
 on:
   pull_request:
     branches:
-      - humble
+      - rolling
   workflow_dispatch:
   schedule:
     - cron: "0 0 * * 0"
@@ -11,5 +11,5 @@ jobs:
   build:
     uses: ./.github/workflows/build.yml
     with:
-      os: ubuntu-22.04
+      os: ubuntu-24.04
       fri_version: 2.5

.github/workflows/build-ubuntu-22.04-fri-2.7.yml → .github/workflows/build-ubuntu-24.04-fri-2.7.yml

@@ -1,8 +1,8 @@
-name: build-ubuntu-22.04-fri-2.7
+name: ubuntu-24.04-fri-2.7
 on:
   pull_request:
     branches:
-      - humble
+      - rolling
   workflow_dispatch:
   schedule:
     - cron: "0 0 * * 0"
@@ -11,5 +11,5 @@ jobs:
   build:
     uses: ./.github/workflows/build.yml
     with:
-      os: ubuntu-22.04
+      os: ubuntu-24.04
       fri_version: 2.7

.github/workflows/build.yml

@@ -20,5 +20,5 @@ jobs:
       - uses: ros-tooling/action-ros-ci@v0.2
         with:
           package-name: lbr_fri_ros2_stack
-          target-ros2-distro: humble
-          vcs-repo-file-url: https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos-fri-${{ inputs.fri_version }}.yaml
+          target-ros2-distro: rolling
+          vcs-repo-file-url: https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/rolling/lbr_fri_ros2_stack/repos-fri-${{ inputs.fri_version }}.yaml

README.md

@@ -1,5 +1,5 @@
 # lbr_fri_ros2_stack
-[![License](https://img.shields.io/github/license/lbr-stack/lbr_fri_ros2_stack)](https://github.com/lbr-stack/lbr_fri_ros2_stack/tree/humble?tab=Apache-2.0-1-ov-file#readme) 
+[![License](https://img.shields.io/github/license/lbr-stack/lbr_fri_ros2_stack)](https://github.com/lbr-stack/lbr_fri_ros2_stack/tree/rolling?tab=Apache-2.0-1-ov-file#readme) 
 [![Documentation Status](https://readthedocs.org/projects/lbr-stack/badge/?version=latest)](https://lbr-stack.readthedocs.io/en/latest/?badge=latest)
 [![JOSS](https://joss.theoj.org/papers/c43c82bed833c02503dd47f2637192ef/status.svg)](https://joss.theoj.org/papers/c43c82bed833c02503dd47f2637192ef) 
 [![Code Style: Black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
@@ -15,23 +15,23 @@ ROS 2 packages for the KUKA LBR, including communication to the real robot via t
             <th align="left" width="25%">LBR Med 14 R820</th>
         </tr>
         <tr>
-            <td align="center"><img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/doc/img/foxglove/iiwa7_r800.png" alt="LBR IIWA 7 R800"></td>
-            <td align="center"><img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/doc/img/foxglove/iiwa14_r820.png" alt="LBR IIWA 14 R820"></td>
-            <td align="center"><img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/doc/img/foxglove/med7_r800.png" alt="LBR Med 7 R800"></td>
-            <td align="center"><img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/doc/img/foxglove/med14_r820.png" alt="LBR Med 14 R820"></td>
+            <td align="center"><img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/rolling/lbr_fri_ros2_stack/doc/img/foxglove/iiwa7_r800.png" alt="LBR IIWA 7 R800"></td>
+            <td align="center"><img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/rolling/lbr_fri_ros2_stack/doc/img/foxglove/iiwa14_r820.png" alt="LBR IIWA 14 R820"></td>
+            <td align="center"><img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/rolling/lbr_fri_ros2_stack/doc/img/foxglove/med7_r800.png" alt="LBR Med 7 R800"></td>
+            <td align="center"><img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/rolling/lbr_fri_ros2_stack/doc/img/foxglove/med14_r820.png" alt="LBR Med 14 R820"></td>
         </tr>
     </table>
 </body>
 
 ## Status
 | OS             | ROS Distribution | FRI Version |  Build Status |
 | :------------- | :--------------- | :---------- |  :----------- |
-| `Ubuntu-22.04` | `humble`         | `1.11`      |  [![build-ubuntu-22.04-fri-1.11](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-22.04-fri-1.11.yml/badge.svg)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-22.04-fri-1.11.yml) |
-| `Ubuntu-22.04` | `humble`         | `1.14`      |  [![build-ubuntu-22.04-fri-1.14](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-22.04-fri-1.14.yml/badge.svg)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-22.04-fri-1.14.yml) |
-| `Ubuntu-22.04` | `humble`         | `1.15`      |  [![build-ubuntu-22.04-fri-1.15](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-22.04-fri-1.15.yml/badge.svg)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-22.04-fri-1.15.yml) |
-| `Ubuntu-22.04` | `humble`         | `1.16`      |  [![build-ubuntu-22.04-fri-1.16](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-22.04-fri-1.16.yml/badge.svg)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-22.04-fri-1.16.yml) |
-| `Ubuntu-22.04` | `humble`         | `2.5`      |  [![build-ubuntu-22.04-fri-2.5](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-22.04-fri-2.5.yml/badge.svg)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-22.04-fri-2.5.yml) |
-| `Ubuntu-22.04` | `humble`         | `2.7`      |  [![build-ubuntu-22.04-fri-2.7](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-22.04-fri-2.7.yml/badge.svg)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-22.04-fri-2.7.yml) |
+| `Ubuntu-24.04` | `rolling`         | `1.11`      |  [![ubuntu-24.04-fri-1.11](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-1.11.yml/badge.svg)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-1.11.yml) |
+| `Ubuntu-24.04` | `rolling`         | `1.14`      |  [![ubuntu-24.04-fri-1.14](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-1.14.yml/badge.svg)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-1.14.yml) |
+| `Ubuntu-24.04` | `rolling`         | `1.15`      |  [![ubuntu-24.04-fri-1.15](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-1.15.yml/badge.svg)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-1.15.yml) |
+| `Ubuntu-24.04` | `rolling`         | `1.16`      |  [![ubuntu-24.04-fri-1.16](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-1.16.yml/badge.svg)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-1.16.yml) |
+| `Ubuntu-24.04` | `rolling`         | `2.5`      |  [![ubuntu-24.04-fri-2.5](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-2.5.yml/badge.svg)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-2.5.yml) |
+| `Ubuntu-24.04` | `rolling`         | `2.7`      |  [![ubuntu-24.04-fri-2.7](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-2.7.yml/badge.svg)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-2.7.yml) |
 
 ## Documentation
 Full documentation available on [Read the Docs](https://lbr-stack.readthedocs.io/en/latest).
@@ -46,10 +46,10 @@ Full documentation available on [Read the Docs](https://lbr-stack.readthedocs.io
 2. Create a workspace, clone, and install dependencies
 
     ```shell
-    source /opt/ros/humble/setup.bash
+    source /opt/ros/rolling/setup.bash
     export FRI_CLIENT_VERSION=1.15
     mkdir -p lbr-stack/src && cd lbr-stack
-    vcs import src --input https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos-fri-${FRI_CLIENT_VERSION}.yaml
+    vcs import src --input https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/rolling/lbr_fri_ros2_stack/repos-fri-${FRI_CLIENT_VERSION}.yaml
     rosdep install --from-paths src -i -r -y
     ```
 

docker/Dockerfile

@@ -1,4 +1,4 @@
-FROM ros:humble-ros-base-jammy
+FROM ros:rolling-ros-base-jammy
 
 # change default shell to bash
 SHELL ["/bin/bash", "-c"]

docker/doc/docker.rst

@@ -14,7 +14,7 @@ To run the ``lbr_fri_ros2_stack`` in a Docker container, follow the instructions
 
     export FRI_CLIENT_VERSION=1.15 # replace by your FRI client version
     mkdir -p lbr-stack/src && cd lbr-stack
-    vcs import src --input https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos-fri-${FRI_CLIENT_VERSION}.yaml
+    vcs import src --input https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/rolling/lbr_fri_ros2_stack/repos-fri-${FRI_CLIENT_VERSION}.yaml
 
 #. Install `Docker <https://docs.docker.com/engine/install/>`_:octicon:`link-external`.
 

lbr_bringup/config/moveit_servo.yaml

@@ -1,25 +1,21 @@
 # Please do e.g. refer to
-#   - https://github.com/moveit/moveit2/blob/humble/moveit_ros/moveit_servo/config/panda_simulated_config.yaml
-#   - https://github.com/moveit/moveit2/blob/humble/moveit_ros/moveit_servo/config/panda_simulated_config_pose_tracking.yaml
+#   - https://github.com/moveit/moveit2/blob/main/moveit_ros/moveit_servo/config/test_config_panda.yaml
+#   - https://github.com/moveit/moveit2/blob/main/moveit_ros/moveit_servo/config/panda_simulated_config.yaml
 /**/servo_node:
   ros__parameters:
     moveit_servo:
-      ## Properties of incoming commands
-      command_in_type: "unitless" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
+      ## Properties of outgoing commands
+      publish_period: 0.005 # 1/controller manager update rate [seconds]
+
+      incoming_command_timeout: 0.5 # seconds
+      command_in_type: "unitless" # "unitless" in the range [-1:1], as if from joystick. "speed_units" cmds are in m/s and rad/s
       scale:
         # Scale parameters are only used if command_in_type=="unitless"
-        linear: 0.4 # Max linear velocity. Unit is [m/s]. Only used for Cartesian commands.
-        rotational: 0.8 # Max angular velocity. Unit is [rad/s]. Only used for Cartesian commands.
+        linear: 0.2 # Max linear velocity. Unit is [m/s]. Only used for Cartesian commands.
+        rotational: 0.2 # Max angular velocity. Unit is [rad/s]. Only used for Cartesian commands.
         # Max joint angular/linear velocity. Only used for joint commands on joint_command_in_topic.
         joint: 0.5
 
-      # Optionally override Servo's internal velocity scaling when near singularity or collision (0.0 = use internal velocity scaling)
-      # override_velocity_scaling_factor = 0.0 # valid range [0.0:1.0]
-
-      ## Properties of outgoing commands
-      publish_period: 0.005 # #1/controller manager update rate [seconds]
-      low_latency_mode: false # Set this to true to publish as soon as an incoming Twist command is received (publish_period is ignored)
-
       # What type of topic does your robot driver expect?
       # Currently supported are std_msgs/Float64MultiArray or trajectory_msgs/JointTrajectory
       command_out_type: std_msgs/Float64MultiArray
@@ -30,6 +26,7 @@
       publish_joint_accelerations: false
 
       ## Plugins for smoothing outgoing commands
+      use_smoothing: true
       smoothing_filter_plugin_name: "online_signal_smoothing::ButterworthFilterPlugin"
 
       # If is_primary_planning_scene_monitor is set to true, the Servo server's PlanningScene advertises the /get_planning_scene service,
@@ -40,23 +37,15 @@
 
       ## MoveIt properties
       move_group_name: arm # Often 'manipulator' or 'arm'
-      planning_frame: link_0 # The MoveIt planning frame. Often 'base_link' or 'world'
-
-      ## Other frames
-      ee_frame_name: link_ee # The name of the end effector link, used to return the EE pose
-      robot_link_command_frame: link_0 # commands must be given in the frame of a robot link. Usually either the base or end effector
-
-      ## Stopping behaviour
-      incoming_command_timeout: 0.1 # Stop servoing if X seconds elapse without a new command
-      # If 0, republish commands forever even if the robot is stationary. Otherwise, specify num. to publish.
-      # Important because ROS may drop some messages and we need the robot to halt reliably.
-      num_outgoing_halt_msgs_to_publish: 4
 
       ## Configure handling of singularities and joint limits
       lower_singularity_threshold: 17.0 # Start decelerating when the condition number hits this (close to singularity)
       hard_stop_singularity_threshold: 30.0 # Stop when the condition number hits this
-      joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
-      leaving_singularity_threshold_multiplier: 2.0 # Multiply the hard stop limit by this when leaving singularity (see https://github.com/ros-planning/moveit2/pull/620)
+      leaving_singularity_threshold_multiplier: 2.0 # Multiply the hard stop limit by this when leaving singularity (see https://github.com/moveit/moveit2/pull/620)
+      # Added as a buffer to joint variable position bounds [in that joint variable's respective units].
+      # Can be of size 1, which applies the margin to all joints, or the same size as the number of degrees of freedom of the active joint group.
+      # If moving quickly, make these values larger.
+      joint_limit_margins: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
 
       ## Topic names
       cartesian_command_in_topic: ~/delta_twist_cmds # Topic for incoming Cartesian twist commands

lbr_bringup/doc/lbr_bringup.rst

@@ -36,7 +36,7 @@ Launch Files
 ------------
 Mock Setup
 ~~~~~~~~~~
-Useful for running a physics-free simulation of the system. This launch file will (see `mock.launch.py <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_bringup/launch/mock.launch.py>`_:octicon:`link-external`):
+Useful for running a physics-free simulation of the system. This launch file will (see `mock.launch.py <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_bringup/launch/mock.launch.py>`_:octicon:`link-external`):
 
 #. Run the ``robot_state_publisher``
 #. Run the ``ros2_control_node`` with mock components as loaded from ``robot_description``
@@ -52,7 +52,7 @@ Useful for running a physics-free simulation of the system. This launch file wil
 
 Gazebo Simulation
 ~~~~~~~~~~~~~~~~~
-Useful for running a physics simulation the the system. This launch file will will (see `gazebo.launch.py <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_bringup/launch/gazebo.launch.py>`_:octicon:`link-external`):
+Useful for running a physics simulation the the system. This launch file will will (see `gazebo.launch.py <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_bringup/launch/gazebo.launch.py>`_:octicon:`link-external`):
 
 #. Start the ``robot_state_publisher``
 #. Start the ``Gazebo`` simulation
@@ -90,7 +90,7 @@ Hardware
 
 #. Launch file:
 
-    This launch file will (see `hardware.launch.py <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_bringup/launch/hardware.launch.py>`_:octicon:`link-external`):
+    This launch file will (see `hardware.launch.py <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_bringup/launch/hardware.launch.py>`_:octicon:`link-external`):
 
     #. Run the ``robot_state_publisher``
     #. Run the ``ros2_control_node`` with the ``lbr_fri_ros2::SystemInterface`` plugin from :doc:`lbr_ros2_control <../../lbr_ros2_control/doc/lbr_ros2_control>` as loaded from ``robot_description`` (which will attempt to establish a connection to the real robot).
@@ -106,7 +106,7 @@ Hardware
 
 RViz
 ~~~~
-This launch file will spin up ``RViz`` for visualization. It will (see `rviz.launch.py <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_bringup/launch/rviz.launch.py>`_:octicon:`link-external`):
+This launch file will spin up ``RViz`` for visualization. It will (see `rviz.launch.py <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_bringup/launch/rviz.launch.py>`_:octicon:`link-external`):
 
 #. Read ``RViz`` configurations.
 #. Run ``RViz``.
@@ -144,7 +144,7 @@ Mixins
 ------
 The ``lbr_bringup`` package makes heavy use of mixins. Mixins are simply state-free classes with static methods. They are a convenient way of writing launch files.
 
-The below shows an example of the `rviz.launch.py <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_bringup/launch/rviz.launch.py>`_:octicon:`link-external` file:
+The below shows an example of the `rviz.launch.py <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_bringup/launch/rviz.launch.py>`_:octicon:`link-external` file:
 
 .. code:: python
 
@@ -183,5 +183,5 @@ Troubleshooting
 ---------------
 Noisy Execution
 ~~~~~~~~~~~~~~~
-- Frequency: Make sure the ``ros2_control_node`` frequency and the ``FRI send period`` are compatible, consider changing ``update_rate`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/tree/humble/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`. 
+- Frequency: Make sure the ``ros2_control_node`` frequency and the ``FRI send period`` are compatible, consider changing ``update_rate`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/rolling/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`. 
 - Realtime priority: Set real time priority in ``code /etc/security/limits.conf``, add the line: ``user - rtprio 99``, where user is your username.