Add base files

Signed-off-by: Carlos San Vicente <carlos.sanvicente@apex.ai>

Author: carlos-apex

.github/workflows/colcon-build.yml

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+name: build and test
+on:
+  push:
+    branches: rolling
+  pull_request:
+    branches: rolling
+jobs:
+  build-and-test:
+    runs-on: [ubuntu-18.04]
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distribution:
+          - galactic
+        include:
+          # Galactic Geochelone (May 2021 - November 2022)
+          - docker_image: ubuntu:focal
+            ros_distribution: galactic
+            ros_version: 2
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+      - name: Setup ROS 2
+        uses: ros-tooling/setup-ros@v0.3
+        with:
+          required-ros-distributions: ${{ matrix.ros_distribution }}
+      - name: Run Tests
+        uses: ros-tooling/action-ros-ci@v0.2
+        with:
+          package-name: ros2_realtime_examples
+          target-ros2-distro: ${{ matrix.ros_distribution }}
+      - name: Upload Logs
+        uses: actions/upload-artifact@v1
+        with:
+          name: colcon-logs
+          path: ros_ws/log
+        if: always()

README.md

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+# Minimal ROS 2 real-time cookbook recipes
+
+Collection of ROS 2 minimal examples showing how to leverage different POSIX and ROS 2 features to
+create real-time applications.
+
+
+TODO: Add other packages after review (currently in rolling-experimental branch): 
+* minimal_memory_lock: shows how to lock the process memory and
+ pre-allocate dynamic memory to avoid memory page faults
+* minimal_deadline_qos: shows how to use the DDS deadline QoS policy
+* minimal_lifecycle: shows how to use node lifecycle to separate configuration and runtime
+ real-time phases
+* minimal_memory_check: shows how use verify that functions used in the real-time path
+does not allocate dynamic memory
+* minimal_memory_allocator: shows how to use different memory strategies to avoid dynamic
+ memory allocations during the runtime phase
+* minimal_loaned_messages: shows how to use loaned messages APIs
+* minimal_data_sharing: shows how to use different data sharing approached to avoid
+ blocking calls when sharing data between real-time and non real-time threads 
+* minimal_dds_tuning: shows how to use DDS specific configurations to tune real-time
+ related settings (TODO: add XML profiles for more DDS implementations)
+
+
+## Requirements
+
+- ROS 2 rolling release
+- Linux based operating system (RT_PREEMPT is not mandatory to run the examples)
+- Privileges to set priority, scheduling and memory lock limits. This can be achieved by having
+ root privileges or adding user privileges to `/etc/security/limits.conf`
+
+
+## Build instructions
+
+### Create workspace
+
+```bash
+$ mkdir -p ros2_realtime_examples_ws/src
+$ cd ros2_realtime_examples_ws/src
+$ git clone https://github.com/carlossvg/ros2-realtime-examples.git
+# Optional: Build rmw_iceoryx for zero-copy examples
+$ git clone https://github.com/ros2/rmw_iceoryx
+```
+
+### Install dependencies 
+
+Use [rosdep](http://wiki.ros.org/ROS/Tutorials/rosdep) to install the required dependencies:
+
+```bash
+$ cd ros2_realtime_examples_ws
+$ rosdep install --from-paths src/ --ignore-src
+```
+
+### Build
+
+Build examples
+
+```bash
+$ cd ros2_realtime_examples_ws
+$ colcon build
+```
+
+**Note: Some examples might require to install additional RMW implementations**

_config.yml

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+theme: jekyll-theme-slate

ros2_realtime_examples/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(ros2_realtime_examples)
+find_package(ament_cmake REQUIRED)
+ament_package()

ros2_realtime_examples/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>ros2_realtime_examples</name>
+  <version>0.0.1</version>
+  <description>ros_realtime_examples metapackage</description>
+  <maintainer email="carlos.svic@gmail.com">Carlos San Vicente</maintainer>
+  <license>Apache License 2.0</license>
+  <author>Carlos San Vicente</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>