<p dir="ltr">On this same subject, I'd like to make people aware of tutorials for installing Xenomai, an alternative real time kernel, on Ubuntu. Thanks to JHU LCSR for putting them together. </p>
<p dir="ltr">Precise: <a href="https://code.google.com/p/jhu-lcsr-ros-pkg/wiki/UbuntuXenomaiPrecise">https://code.google.com/p/jhu-lcsr-ros-pkg/wiki/UbuntuXenomaiPrecise</a><br>
Lucid: <a href="https://code.google.com/p/jhu-lcsr-ros-pkg/wiki/UbuntuXenomai">https://code.google.com/p/jhu-lcsr-ros-pkg/wiki/UbuntuXenomai</a></p>
<p dir="ltr">I've had no problems with these tutorials and Xenomai has worked well for my 1kHz ethercat control loop.</p>
<p dir="ltr">-Kelsey</p>
<div class="gmail_quote">On Sep 18, 2014 7:25 AM, "Jürgen Kunz" <<a href="mailto:kunz@sim.tu-darmstadt.de">kunz@sim.tu-darmstadt.de</a>> wrote:<br type="attribution"><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">
<div text="#000000" bgcolor="#FFFFFF">
Hi Dorian, hi Yanzhen,<br>
<br>
in Ubuntu 12.04 the RT-Preempt kernels from official Debian wheezy
repository can be used. The 3.2-rt kernel from debian wheezy works
without any additional changes. The 3.14-0.bpo.2-rt kernel from
debian wheezy-backports requires udev packages to be installed from
wheezy-backports repository. Otherwise the system will not boot.<br>
<br>
In Ubuntu 14.04, the 3.14 RT-Preempt kernel from Debian jessie can
be used.<br>
<br>
Best regards,<br>
Jürgen<br>
<br>
<div>Am 2014-09-18 12:15, schrieb Dorian
Scholz:<br>
</div>
<blockquote type="cite">
<div>Hi Yanzhen,<br>
<br>
thanks for your work.<br>
This would indeed be interesting, as I'm still using a quite old
3.2.0-rt Debian kernel.<br>
<br>
But there is some information missing about the packages you
provide:<br>
<br>
1) the downloads are only possible with login<br>
<br>
2) it does not say what these packages actually do<br>
I assume they use bash scripts during the install to download
and patch the kernel source, compile and install it?<br>
<br>
3) where is the source for building these packages?<br>
I don't think anyone here would simply install packages without
knowing what is actually being executed...<br>
Making the package source available would also be helpful to
adapt it for other systems.<br>
<br>
4) On which Linux distributions and versions was this tested? <br>
<br>
Cheers,<br>
Dorian<br>
<br>
<br>
On 18/09/14 03:19, Yanzhen Wang wrote:<br>
</div>
<blockquote type="cite">
<div dir="ltr">
<div dir="ltr">
<div dir="ltr">
<div dir="ltr">Hi everyone,
<div><br>
</div>
<div>A real-time host OS may be needed when one is
dealing with real-time guarantees in ROS applications.
To make the installation of an rt-patched Linux kernel
much easier, we created two Debian packages which do
most of the work. They uses the Linux 3.8.13-rt16
RT-PREEMPT patch for 32-bit and 64-bit systems,
respectively.</div>
<div><br>
</div>
<div>If you would like to give them a try, you can
download the packages from the following links:</div>
<div>32-bit: <a href="http://micros.nudt.edu.cn/ros/attachments/download/6409/linux-image-3.8.13-rt16-i386-v0.0.1.deb" style="font-size:12pt" target="_blank">http://micros.nudt.edu.cn/ros/attachments/download/6409/linux-image-3.8.13-rt16-i386-v0.0.1.deb</a></div>
<div>64-bit: <a href="http://micros.nudt.edu.cn/ros/attachments/download/6413/linux-image-3.8.13-rt16_3.8.13-rt16-10.00.Custom_amd64.deb" style="font-size:12pt" target="_blank">http://micros.nudt.edu.cn/ros/attachments/download/6413/linux-image-3.8.13-rt16_3.8.13-rt16-10.00.Custom_amd64.deb</a></div>
<div><br>
</div>
<div>Place the corresponding package in any directory,
and then run the following command and reboot the
system.</div>
<div><span style="color:rgb(72,72,72);font-family:'Source Code Pro';font-size:13px;line-height:21px;background-color:rgb(255,255,255)">sudo
dpkg -i linux-image-XXXX.deb</span></div>
<div><br>
</div>
<div>Now the real-time kernel will be there.</div>
<div><br>
</div>
<div>We would be grateful if you can try them out and
any feedback would be greatly appreciated.</div>
<div>
<div><br>
Best regards,
<div>Yanzhen</div>
<div><br>
</div>
</div>
</div>
</div>
</div>
</div>
</div>
<br>
<fieldset></fieldset>
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</pre>
</blockquote>
<br>
<br>
<pre cols="72">--
Dipl.-Inform. Dorian Scholz E-Mail:scholz(at)<a href="http://sim.tu-darmstadt.de" target="_blank">sim.tu-darmstadt.de</a>
Simulation, Systems Optimization Phone: <a href="tel:%2B49%20%280%29%206151%2016-4811" value="+496151164811" target="_blank">+49 (0) 6151 16-4811</a>
and Robotics Group Fax: <a href="tel:%2B49%20%280%29%206151%2016-6648" value="+496151166648" target="_blank">+49 (0) 6151 16-6648</a>
Technische Universität Darmstadt <a href="http://www.sim.tu-darmstadt.de" target="_blank">http://www.sim.tu-darmstadt.de</a>
Hochschulstr. 10 D-64289 Darmstadt, Germany</pre>
<br>
<fieldset></fieldset>
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</pre>
</blockquote>
<br>
<div>-- <br>
Dipl.-Inform. Jürgen Kunz<br>
<br>
<a href="http://www.tu-darmstadt.de" target="_blank">Technische Universität
Darmstadt</a><br>
<a href="http://www.sim.tu-darmstadt.de" target="_blank">FG Simulation,
Systemoptimierung und Robotik</a><br>
Hochschulstr. 10<br>
64289 Darmstadt<br>
<br>
Tel.: <a href="tel:%2B%2B49%20%280%29%206151-16-70383" value="+4961511670383" target="_blank">++49 (0) 6151-16-70383</a><br>
Fax: <a href="tel:%2B%2B49%20%280%29%206151-16-6648" value="+496151166648" target="_blank">++49 (0) 6151-16-6648</a><br>
E-Mail: kunz(at)<a href="http://sim.tu-darmstadt.de" target="_blank">sim.tu-darmstadt.de</a><br>
Homepage: <a href="http://www.sim.tu-darmstadt.de" target="_blank">http://www.sim.tu-darmstadt.de</a></div>
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