myRtKernel.md

install RT-kernel 5.4.115

• [source1]https://docs.ros.org/en/foxy/Tutorials/Building-Realtime-rt_preempt-kernel-for-ROS-2.html
• [source2]https://frankaemika.github.io/docs/installation_linux.html

download source files

curl -SLO https://www.kernel.org/pub/linux/kernel/v5.x/linux-5.4.115.tar.xz curl -SLO https://www.kernel.org/pub/linux/kernel/v5.x/linux-5.4.115.tar.sign curl -SLO https://www.kernel.org/pub/linux/kernel/projects/rt/5.4/patch-5.4.115-rt57.patch.xz curl -SLO https://www.kernel.org/pub/linux/kernel/projects/rt/5.4/patch-5.4.115-rt57.patch.sign

decompress

xz -d linux-5.4.115.tar.xz xz -d patch-5.4.115-rt57.patch.xz

debugging

1. install dependencies

sudo apt-get build-dep linux
sudo apt-get install libncurses-dev flex bison openssl libssl-dev dkms libelf-dev libudev-dev libpci-dev libiberty-dev autoconf fakeroot

2. deb-pkg err

sudo gedit .config

comment out CONFIG_SYSTEM_TRUSTED_KEY CONFIG_MODULE_SIG_KEY

3. change default kernel setting install grub-customizer

sudo add-apt-repository ppa:danielrichter2007/grub-customizer
sudo apt-get update
sudo apt-get install grub-customizer