This contains the priority_executor package that adds an Executor with deadline and chain-aware priority support.

• simple_timer contains timing related functions, and a wrapper for calling some kernel scheduling functions
• priority_executor contains the modified executor and some nodes to test it

In priority_executor:

• priority_executor.cpp subclasses rclcpp::Executor to allow for additional customization
• priority_memory_strategy.hpp is a modified version of rclcpps allocator_memory_strategy.hpp that selects callbacks based on either the earliest deadline, or a relative priority. Executor polls this for ready callbacks.
• usage_example.cpp shows how to set deadlines for callbacks and timers

the main branch of this repository has the test scripts and nodes used in the paper.