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Robot Engineering
Computer Engineering
Computer Engineering Overview
CPU Architecture
GPU & Parallel Computing
Memory & Storage
Bus & Interfaces
Embedded Systems
Operating System Fundamentals
Cameras & Vision
LiDAR
Inertial Navigation & Localization
Motors & Actuators
Communication & Bus
Power Management
Mechanical Structure
Displays & HMI
Force & Tactile Sensing
System Integration
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Table of Contents
Overview
Processes and Threads
Process
Thread
In the Context of ROS2
Scheduling Algorithms
Linux Scheduler
Real-Time Scheduling Configuration
Scheduling Latency
Linux Kernel Architecture
Kernel Subsystems
Kernel Modules
Device Drivers
Device Types
/dev Device Files
sysfs File System
V4L2 Camera Driver
Real-Time Patch (PREEMPT_RT)
Why Real-Time Linux Is Needed
Key PREEMPT_RT Improvements
Installation and Configuration
Real-Time Performance Tuning
Boot Process
Linux Boot Flow
Robot Auto-Start Configuration
Boot Time Optimization
IPC (Inter-Process Communication)
Linux IPC Mechanisms
ROS2 DDS Communication
Common Linux Commands
System Monitoring
Performance Profiling
Summary
References
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