Added method to set thread affinity for a certain core #140
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Hi,
this PR adds an additional method which allows "binding" the calling thread to a certain core. In fact it sets the thread affinity to a certain core.
Even though @fmauch figured out in his tests (https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/60f08359f6/ur_robot_driver/doc/real_time_benchmarking.md) that setting the core affinity didn't change to much for his system, this can not be assumed in general. (See https://stackoverflow.com/questions/24645880/set-cpu-affinity-when-create-a-thread for a nice write up) Especially for more heterogene systems like the AMD Ryzen processes with 3D cache which is only connected to one processor die tying a thread to a certain core makes sense.
Having the scheduler preferre a certain core for a certain thread can reduce cache misses and avoid context switches.