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 containsPREEMPT 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)