Realtime Kernel for Ubuntu 18.4

⚠️ this repository uses git-lfs. when cloning, make sure LFS is installed locally.

These are deb packages built for Ubuntu Bionic.

Used Kernel sources:

• kernel linux-5.4.19-rt11_5.4.19-rt11.orig.tar.gz
• realtime patch linux-5.4.19-rt11_5.4.19-rt11-1.diff.gz

Kernel config:

• Preemption Model: Fully Preemptible Kernel (RT)

Installation

• ⚠️ make sure secureboot is disabled.
• simply install the packages using dpkg -i

Verifying that the Realtime Kernel is Running

• reboot after kernel installation, selecting the new kernel in Grub
• run uname -a, the result should contains PREEMPT RT

Set User Permissions

• add a group named realtime and add the user controlling your robot to this group:

  sudo addgroup realtime
  sudo usermod -a -G realtime $(whoami)

• add the following limits to the realtime group in /etc/security/limits.conf:

  @realtime soft rtprio 99
  @realtime soft priority 99
  @realtime soft memlock 102400
  @realtime hard rtprio 99
  @realtime hard priority 99
  @realtime hard memlock 102400

• log out and in again (or restart)