Eliminating operating system latency spikes to guarantee hard real-time execution of robotic motion control threads.
By converting all Linux interrupt service routines into preemptible kernel threads and locking memory pages via `mlockall()`, maximum scheduling latency is strictly clamped below 25 microseconds under 100% CPU stress.
RealtimeSwarm replaces default ROS 2 multi-threaded executors with static single-threaded cyclic executors, assigning dedicated CPU cores to high-priority trajectory generation.