added yaml file for scheduler configuration

Author: MMarcus95

CMakeLists.txt

@@ -87,6 +87,19 @@ install(
 	DESTINATION /usr/include/dls2/state_estimator/${PROJECT_NAME}
 )
 
+install(
+	DIRECTORY   config/
+	COMPONENT   ${PROJECT_NAME}
+	DESTINATION /usr/include/dls2/state_estimator/${PROJECT_NAME}
+	PATTERN "scheduler" EXCLUDE
+)
+
+install(
+	FILES config/scheduler.yaml
+	COMPONENT   ${PROJECT_NAME}
+	DESTINATION /usr/include/dls2/schedulers/${PROJECT_NAME}
+)
+
 install(
 	TARGETS             ${PROJECT_NAME}
 	LIBRARY DESTINATION /usr/lib/dls2/estimators

config/scheduler.yaml

@@ -0,0 +1,4 @@
+# Attributes for SCHED_DEADLINE policy
+period : 10 # ms, setting sched_period. This is the desired periodicity of the process
+runtime_factor : 1 # used to compute sched_runtime = period * runtime_factor. The sched_runtime attribute is usually set to the average computation time (or worst-case execution time for hard real-time tasts)
+deadline_factor : 1 # used to compute sched_deadline = period * deadline_factor. The sched_deadline attribute is a time window, starting from the beginning of the period, when sched_runtime microseconds are available to execute the task.

src/vicon_bridge.cpp

@@ -22,8 +22,7 @@ namespace dls
     {
         ViconBridge::ViconBridge(std::string& ID)
             : Estimator(
-                ID, 
-                std::chrono::milliseconds(10))
+                ID)
                 , writer_vicon_(
                 this->getParticipant(),
                 dls::topics::high_level_estimation::vicon,