File _service:obs_scm:README.en.md of Package realtime_tools

# realtime_tools

#### Description

Contains a set of tools that can be used from a hard realtime thread, without breaking the realtime behavior.

#### Software Architecture
Software architecture description

The realtime_tools contains the following methods:

The realtime_tools::RealtimePublisher allows users that write C++ realtime controllers to publish messages on a ROS topic from a hard realtime loop. The normal ROS publisher is not realtime safe, and should not be used from within the update loop of a realtime controller. The realtime publisher is a wrapper around the ROS publisher; the wrapper creates an extra non-realtime thread that publishes messages on a ROS topic. The example below shows a typical usage of the realtime publisher in the init() and update() methods of a realtime controller:

input:
```
realtime_tools/
├── CHANGELOG.rst
├── CMakeLists.txt
├── doc.dox
├── include
│   └── realtime_tools
├── package.xml
├── README.md
├── src
│   └── realtime_clock.cpp
└── test
    ├── realtime_box_tests.cpp
    ├── realtime_buffer_tests.cpp
    ├── realtime_clock_tests.cpp
    ├── realtime_publisher.test
    ├── realtime_publisher_tests.cpp
    ├── realtime_server_goal_handle.test
    └── realtime_server_goal_handle_tests.cpp

```

#### Installation

1.  Download RPM

aarch64:

wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_aarch64/aarch64/ros-noetic-ros-realtime_tools/ros-noetic-ros-realtime_tools-1.16.1-1.oe2203.aarch64.rpm

x86_64:

wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_x86_64/x86_64/ros-noetic-ros-realtime_tools/ros-noetic-ros-realtime_tools-1.16.1-1.oe2203.x86_64.rpm

2.  Install RPM

aarch64:

sudo rpm -ivh ros-noetic-ros-realtime_tools-1.16.1-1.oe2203.aarch64.rpm --nodeps --force

x86_64:

sudo rpm -ivh ros-noetic-ros-realtime_tools-1.16.1-1.oe2203.x86_64.rpm --nodeps --force

#### Instructions

Dependence installation

sh /opt/ros/noetic/install_dependence.sh

Exit the following output file under the /opt/ros/noetic/ directory , Prove that the software installation is successful

```
realtime_tools/
├── cmake.lock
├── env.sh
├── lib
│   ├── librealtime_tools.so
│   └── pkgconfig
├── local_setup.bash
├── local_setup.sh
├── local_setup.zsh
├── setup.bash
├── setup.sh
├── _setup_util.py
├── setup.zsh
└── share
    └── realtime_tools

```

#### Contribution

1.  Fork the repository
2.  Create Feat_xxx branch
3.  Commit your code
4.  Create Pull Request

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