diff --git a/clearpath_robot/services/clearpath-manipulators.service b/clearpath_robot/services/clearpath-manipulators.service
index 89ce4bb..763b315 100755
--- a/clearpath_robot/services/clearpath-manipulators.service
+++ b/clearpath_robot/services/clearpath-manipulators.service
@@ -7,6 +7,10 @@ After=clearpath-robot.service
 User=robot
 Type=simple
 ExecStart=/usr/sbin/clearpath-manipulators-start
+LimitRTPRIO=infinity
+LimitMEMLOCK=infinity
+CPUSchedulingPolicy=fifo
+CPUSchedulingPriority=50
 
 [Install]
 WantedBy=clearpath-robot.service
diff --git a/clearpath_robot/services/clearpath-platform.service b/clearpath_robot/services/clearpath-platform.service
index f34fa67..9431d5c 100755
--- a/clearpath_robot/services/clearpath-platform.service
+++ b/clearpath_robot/services/clearpath-platform.service
@@ -7,6 +7,10 @@ After=clearpath-robot.service
 User=robot
 Type=simple
 ExecStart=/usr/sbin/clearpath-platform-start
+LimitRTPRIO=infinity
+LimitMEMLOCK=infinity
+CPUSchedulingPolicy=fifo
+CPUSchedulingPriority=50
 
 [Install]
 WantedBy=clearpath-robot.service