面向具身智能与工业产线的
新一代J9COM

#include <ros_rt/kernel.hpp>
#include <ros_rt/shm_pubsub.hpp>

int main(int argc, char** argv) {
    // 初始化高实时节点上下文
    ros_rt::NodeConfig config;
    config.cpu_affinity = 0x03; // 绑定核心 0, 1
    config.sched_policy = SCHED_FIFO;
    config.priority = 98; // 工业级抢占最高优先级
    
    auto node = ros_rt::CreateNode("arm_motion_core", config);
    auto publisher = node->CreateZeroCopyPublisher<JointTrajectory>("actuator/joint_cmd");
    
    ros_rt::Rate loop_rate(1000); // 1000Hz 确定性控制循环
    while (node->Ok()) {
        auto msg = publisher->BorrowLoanedMessage();
        msg->header.stamp = ros_rt::Clock::NowPrecision();
        // 微秒级运动学伺服计算
        CalculateNextStep(msg.get());
        publisher->Publish(std::move(msg));
        loop_rate.Sleep(); // 抖动漂移 < 0.8us
    }
    return 0;
}