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--- getting_started:tutorials:rttest [2021/03/29 18:20] – ursgraf
+++ getting_started:tutorials:rttest [2026/04/12 12:08] (current) – [Running the Example] ursgraf
@@ Line 4: / Line 4: @@
 In the EEROS library you will find a directory with examples. For this example see [[https://github.com/eeros-project/eeros-framework/blob/master/examples/rtTest/rtTest.cpp|rtTest.cpp]].
+==== Allow Realtime Priorities ====
+All examples using the executor will have to change thread priorities to make them realtime capable. You could run these examples with ''sudo'', but it is preferable to give your current user the privilege to change scheduling parameters. Running with ''sudo'' can cause issues when using ROS2 and is not recommended due to security reasons. Edit the file ///etc/security/limits.conf// (on Ubuntu) and add the following lines:
+<code>
+your_username   soft    rtprio  99
+your_username   hard    rtprio  99
+your_username   soft    memlock unlimited
+your_username   hard    memlock unlimited
+</code>
+Log out and log back in in order for the changes to take effect.
+==== Running the Example ====
 Open a shell in the build directory of your EEROS library and run //rtTest//. This examples does:
   * Creates a single periodic task with a period of 1ms
@@ Line 9: / Line 20: @@
 You can start the program with the option //-s// passing a number of seconds after which the program stops.
 <code>
-$ sudo ./examples/rtTest/rtTest -s 60 // run for a minute
+$ ./examples/rtTest/rtTest -s 60 // run for a minute
 </code>
-IMPORTANT You have to run a program using real time threads with root privileges.
 The program will print out the cumulative runtime measurements of