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feat: 实时性增强实测 + 29分钟soak test (2026-08-16晚)

letsgooo requested to merge dev-realtime-soak into main
  • 进阶任务2实测: SCHED_FIFO+performance调频在CPU满载下抖动降94-97%, P99降~90%
  • RT+负载优于无负载默认调度, 证实ondemand变频是主要抖动源
  • soak test: RSS 29min漂移0.000MB零泄漏, 延迟首尾一致零衰减, CPU 17.5%/14.7%双达标
  • 新增脚本: pi_rt_driver/pi_rt_round/pi_rt_node_wrap/pi_soak
  • 修复采集方法: pgrep -x按comm匹配真实节点(ros2 run是python启动器)
  • 至此进阶任务4/4全部有实测数据

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