Enable FIFO scheduling by default for RTDE communication thread

[srvald]

Description

This PR improves the scheduling configuration of the thread responsible for receiving and processing robot communication data.

RTDE background read thread

When read_packages_in_background is enabled, the RTDE client creates a dedicated background thread for continuously receiving RTDE data packages.

Previously, this thread was executed using the operating system's default scheduling policy. Under system load, scheduling delays could introduce additional latency and timing jitter while processing incoming RTDE data.

This PR configures the RTDE background read thread to request the highest available FIFO scheduling priority using the existing helper functions.

pthread_t this_thread = pthread_self();
const int max_thread_priority = sched_get_priority_max(SCHED_FIFO);
setFiFoScheduling(this_thread, max_thread_priority);

This follows the same approach already used by the producer thread inside Pipeline::runProducer().

Universal_Robots_Client_Library/include/ur_client_library/comm/pipeline.h

Lines 429 to 437 in 8b4495c

	void runProducer()
	{
	URCL_LOG_DEBUG("Starting up producer");
	if (producer_fifo_scheduling_)
	{
	pthread_t this_thread = pthread_self();
	const int max_thread_priority = sched_get_priority_max(SCHED_FIFO);
	setFiFoScheduling(this_thread, max_thread_priority);
	}

Pipeline default scheduling

The Pipeline constructor previously defaulted producer_fifo_scheduling to false, meaning that FIFO scheduling was not requested unless explicitly enabled.

Universal_Robots_Client_Library/include/ur_client_library/comm/pipeline.h

Lines 305 to 306 in 8b4495c

	Pipeline(IProducer<T>& producer, IConsumer<T>* consumer, std::string name, INotifier& notifier,
	const bool producer_fifo_scheduling = false)

This PR changes the default value to true, making the producer thread request FIFO scheduling by default.

As a result, both the RTDE background read thread and the pipeline producer thread now consistently request FIFO scheduling unless explicitly disabled.

---

Note

Low Risk
Change is limited to thread scheduling hints with graceful fallback on failure; no protocol, auth, or data-path logic changes.

Overview
When background RTDE package reading is enabled, the dedicated read thread now requests maximum SCHED_FIFO priority at thread entry via setFiFoScheduling, matching the approach already used in the pipeline producer thread.

This adds the helpers.h include needed for that helper. The goal is to reduce scheduling latency and jitter on incoming RTDE data under system load; if the process lacks permission for FIFO scheduling, existing helper behavior applies (warning, thread continues with default scheduling).

^{Reviewed by Cursor Bugbot for commit 8d93a85. Bugbot is set up for automated code reviews on this repo. Configure here.}

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 78.90%. Comparing base (8b4495c) to head (8d93a85).

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #536      +/-   ##
==========================================
- Coverage   79.10%   78.90%   -0.21%     
==========================================
  Files         115      115              
  Lines        6766     6768       +2     
  Branches     2988     2991       +3     
==========================================
- Hits         5352     5340      -12     
- Misses       1045     1055      +10     
- Partials      369      373       +4     

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