1. It has Real time settings which one can apply in a thread,to extract max performance from an RPI.
2. With Great power,comes great responsibility
3. ROS Noetic is used as a packaging and build system for it.

Requirements:

0. Please Ensure you have the RPI patched with a PREEMPT_RT patch, otherwise you wouldnt be able to apply a RT priority to SCHED_FIFO

1. For using this library, your user will need to have root permissions.
2. Secondly, to set RT priorities, please set ulimit configs in the following way:
   1. Add your user to a group, in this example, called "rtprio"
   2. Give this group root permissions:
      sudo groupadd rtprio
sudo usermod -a -G rtprio <username>
sudo chmod 4750 /usr/bin/chrt
      
   3. Now you have to configure hard and soft priority limits which the group can use:
   4. Open /etc/security/limits.conf in an editor of your choice and add the following lines:
      <username> hard rtprio 99
<username> soft rtprio 99
   5. Reference for the above: https://stackoverflow.com/questions/10704983/operation-not-permitted-while-setting-new-priority-for-thread
   6. One way to programatically change soft and hard limit : https://man7.org/linux/man-pages/man2/getrlimit.2.html