【ROS2】杂项:构建实时 Linux 内核 [社区贡献]

本教程从在 Intel x86_64 上的干净 Ubuntu 20.04.1 安装开始。实际内核是 5.4.0-54-generic，但我们将安装最新的稳定 RT_PREEMPT 版本。构建内核至少需要 30GB 的可用磁盘空间。

请查看 https://wiki.linuxfoundation.org/realtime/start 以获取最新的稳定版本，在撰写本文时为“最新稳定版本 5.4-rt”。如果我们点击链接 https://cdn.kernel.org/pub/linux/kernel/projects/rt/5.4/ ，我们会得到确切的版本。目前是 patch-5.4.78-rt44.patch.gz。

我们在主目录中创建一个目录

mkdir ~/kernel

并切换到它与

cd ~/kernel

我们可以使用浏览器访问 https://mirrors.edge.kernel.org/pub/linux/kernel/v5.x/，看看版本是否在那里。您可以从该网站下载并手动将其从 /Downloads 移动到 /kernel 文件夹，或者通过右键单击链接使用“复制链接位置”使用 wget 下载。示例：

wget https://mirrors.edge.kernel.org/pub/linux/kernel/v5.x/linux-5.4.78.tar.gz

 用...解压缩它

tar -xzf linux-5.4.78.tar.gz

下载与我们刚刚在 http://cdn.kernel.org/pub/linux/kernel/projects/rt/5.4/ 下载的内核版本匹配的 rt_preempt 补丁。

wget http://cdn.kernel.org/pub/linux/kernel/projects/rt/5.4/older/patch-5.4.78-rt44.patch.gz

 用...解压它

gunzip patch-5.4.78-rt44.patch.gz

然后切换到 linux 目录

cd linux-5.4.78/

然后切换到 linux 目录

cd linux-5.4.78/

并使用实时补丁修补内核

patch -p1 < ../patch-5.4.78-rt44.patch

我们只想使用我们 Ubuntu 安装的配置，所以我们获取 Ubuntu 配置与

cp /boot/config-5.4.0-54-generic .config

打开软件和更新。在 Ubuntu 软件菜单中勾选“源代码”框。

我们需要一些工具来构建内核，请使用以下命令安装它们

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

要启用所有 Ubuntu 配置，我们只需使用

yes '' | make oldconfig

然后我们需要在内核中启用 rt_preempt。我们称之为

make menuconfig

并设置以下内容

# Enable CONFIG_PREEMPT_RT
 -> General Setup
  -> Preemption Model (Fully Preemptible Kernel (Real-Time))
   (X) Fully Preemptible Kernel (Real-Time)


# Enable CONFIG_HIGH_RES_TIMERS
 -> General setup
  -> Timers subsystem
   [*] High Resolution Timer Support


# Enable CONFIG_NO_HZ_FULL
 -> General setup
  -> Timers subsystem
   -> Timer tick handling (Full dynticks system (tickless))
    (X) Full dynticks system (tickless)


# Set CONFIG_HZ_1000 (note: this is no longer in the General Setup menu, go back twice)
 -> Processor type and features
  -> Timer frequency (1000 HZ)
   (X) 1000 HZ


# Set CPU_FREQ_DEFAULT_GOV_PERFORMANCE [=y]
 ->  Power management and ACPI options
  -> CPU Frequency scaling
   -> CPU Frequency scaling (CPU_FREQ [=y])
    -> Default CPUFreq governor (<choice> [=y])
     (X) performance

保存并退出 menuconfig。现在我们将构建内核，这将花费相当长的时间。（在现代 CPU 上需要 10-30 分钟）

make -j `nproc` deb-pkg

构建完成后检查 debian 包

ls ../*deb
../linux-headers-5.4.78-rt41_5.4.78-rt44-1_amd64.deb  ../linux-image-5.4.78-rt44-dbg_5.4.78-rt44-1_amd64.deb
../linux-image-5.4.78-rt41_5.4.78-rt44-1_amd64.deb    ../linux-libc-dev_5.4.78-rt44-1_amd64.deb

然后我们安装所有内核 debian 包

sudo dpkg -i ../*.deb

现在应该安装实时内核。重新启动系统并检查新内核版本。

sudo reboot
uname -a
Linux ros2host 5.4.78-rt44 #1 SMP PREEMPT_RT Fri Nov 6 10:37:59 CET 2020 x86_64 xx

---

附录

Building a real-time Linux kernel on Ubuntu 24.04 involves several steps. Here's a general guide to help you get started:

1. Install Necessary Packages

First, ensure you have the required packages for building the kernel:

sudo apt update
sudo apt install build-essential libncurses-dev bison flex libssl-dev libelf-dev

2. Download the Kernel Source

Download the latest real-time kernel source from the official Linux kernel website or use the Ubuntu source:

wget https://cdn.kernel.org/pub/linux/kernel/v6.x/linux-6.8.tar.xz
tar -xf linux-6.8.tar.xz
cd linux-6.8

3. Apply the Real-Time Patches

Real-time patches are essential for enabling real-time capabilities. You can download the PREEMPT_RT patches and apply them:

wget https://cdn.kernel.org/pub/linux/kernel/projects/rt/6.8/patch-6.8-rt1.patch.xz
xzcat patch-6.8-rt1.patch.xz | patch -p1

4. Configure the Kernel

Configure the kernel with the necessary options for real-time support:

make menuconfig

In the menu, navigate to:

• Processor type and features

  • Enable Preemption Model (Fully Preemptible Kernel)

5. Build the Kernel

Compile the kernel and modules:

make -j$(nproc)
make modules_install
make install

6. Update Bootloader

Update your bootloader to include the new kernel:

sudo update-grub

7. Reboot

Reboot your system to use the new real-time kernel:

sudo reboot

Additional Resources

For more detailed instructions and tuning guidelines, you can refer to the official Ubuntu documentation on real-time kernels¹².

If you encounter any issues or need further assistance, feel free to ask!

¹: Ubuntu Real-Time Kernel Technical Guide
²: Canonical Real-Time Ubuntu 24.04 LTS Release

Are you planning to use this for a specific project or application?

Source: Conversation with Copilot, 2024/7/27
(1) Technical deep-dive into a real-time kernel | Ubuntu. https://ubuntu.com/blog/real-time-kernel-technical.
(2) Canonical releases Real-time Ubuntu 24.04 LTS | Ubuntu. https://ubuntu.com/blog/real-time-24-04.
(3) Discover real-time kernel on Ubuntu 24.04 LTS and Raspberry Pi. https://www.sebae.net/videos/discover-real-time-kernel-on-ubuntu-24-04-lts-and-raspberry-pi/.
(4) Discover real-time kernel on Ubuntu 24.04 LTS and Raspberry Pi. https://ubuntu.com/engage/real-time-24-webinar.
(5) Real-Time Kernel Now Available On Ubuntu 24.04 LTS - Phoronix. https://www.phoronix.com/news/Ubuntu-24.04-LTS-Real-Time.