How to use

Real-time kernal

(tested for ubuntu 20.04)

Install dependancies

sudo apt-get install build-essential bc curl ca-certificates fakeroot gnupg2 libssl-dev lsb-release flex bison

Download kernal and its patch

cd iiwa_driver && mkdir rt-linux && cd rt-linux
curl -SLO https://www.kernel.org/pub/linux/kernel/v5.x/linux-5.4.47.tar.xz
curl -SLO https://www.kernel.org/pub/linux/kernel/projects/rt/5.4/older/patch-5.4.47-rt28.patch.xz

Decompress all

xz -d linux-5.4.47.tar.xz
xz -d patch-5.4.47-rt28.patch.xz

Apply the patch

tar xf linux-5.4.47.tar
cd linux-5.4.47
patch -p1 < ../patch-5.4.47-rt28.patch

Make config for PREEMPT_RT_FULL

make oldconfig

check in opened menu Fully Preemptible Kernel (Real-Time) (PREEMPT_RT) (NEW)

Next, compile kernel

fakeroot sudo make -j8 deb-pkg

sudo dpkg -i ../linux-headers-5.4.40-rt24_*.deb ../linux-image-5.4.40-rt24_*.deb

Reboot computer

reboot

and check if new kernall is installed.

At the end add real-time permissions to user

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

and add following limits to real-time group (/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

Setup Fast Robot Interface (FRI)

1. Be sure you have:

   • LBR iiwa (I have 14 kg version)
   • Sunrise.Workbench
   • Sunrise.FRI

2. Install packages

   sudo apt install libyaml-cpp*
   

3. Copy files from FRIClient_SDK_CPP/* to extern/fri-client-sdk/ dirictory.

4. Build FRI client.

   cd ./extern/fri-client-sdk/build/GNUMake && make

Setup network

1. Disable IPv6

2. Set IPv4 to

192.168.10.200
255.255.255.0