Hi,
I want to build the realtime Linux for ROS 2 according to the
guidelines here:
<https://index.ros.org/doc/ros2/Tutorials/Building-Realtime-rt_preempt-kernel-for-ROS-2/>.
For this purpose, I must enable the rt_preempt relative options in the
kernel withe the following method interactively:
$ make menuconfig
and set the following
# 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
But this is very inconvenient for doing the above job in script. Is
there an alternative method to generate the above configurations for
kernel compilation non-interactively in script.
BR,
--
Assoc. Prof. Hongyi Zhao <hongyi.z...@gmail.com>
Theory and Simulation of Materials
Hebei Polytechnic University of Science and Technology engineering
NO. 552 North Gangtie Road, Xingtai, China
