This is a generic ROSMOD node package that maps to an actor process and can parse a ROSMOD deployment JSON to dynamically load and spawn component instance executor threads. ROSMOD-Actor has support for running with real-time priority in linux and can set its real-time priority that is defined in the configuration json. It will need to be run with administrative permissions in order to execute at real-time priority.
Install these dependencies according to their install instructions.
# clone
git clone https://github.com/rosmod/rosmod-actor
# enter repository
cd rosmod-actor# chown /opt for the user
sudo chown -R $USER /opt
# set rosmod-actor to extend your ROS workspace
catkin config --extend /opt/ros/kinetic
# set the install location for rosmod-actor (you can change this to be wherever you like)
catkin config -i /opt/rosmod-actor
# configure rosmod-actor to actually install
catkin config --install# Remove any previous build files that may exist
catkin clean -b --yes
# build and install according to config
catkin build