services:
  realtime:
    image: murilomarinho/sas:jazzy
    stop_signal: SIGINT
    stop_grace_period: 10s
    environment:
      - ROS_DOMAIN_ID
    cap_add:
      - SYS_NICE # PREEMPT_RT
    ulimits:
      rtprio: 99 # PREEMPT_RT
      rttime: -1 # PREEMPT_RT
    command: /bin/bash -c "
      ros2 run sas_core sas_clock_sched_fifo_example
      "