If I remember correctly, I got a "Bus Error" when starting the thread, which after a bit of googling seemed to be a Xenomai issue, though I don't know what caused it. I'm quite new to C++, threads and everything, so I just decided to try with a pthread instead, which worked from the start.
One thing I haven't quite grasped yet is how to deal with memory sharing between threads. I tried to follow the
UIUGens.cpp model, but it seems it could be possible to read from a variable at the same time as the other thread is writing to it, which apparently is a bad thing. Is this an issue when using AuxiliaryTasks as well?