Ubuntu 20.04, low-latency, non-realtime

Start by ​installing Ubuntu 20.04.

Install Peak CAN card hardware (but do not install a driver, yet):

• PCAN-PCI
• PCAN-PCIe
• PCAN-USB
• PCAN-ISA

Then install git:

sudo apt install git

Download the libbarrett source code:

cd && git clone -b feature/ubuntu2004 https://git.barrett.com/software/libbarrett

Install the libbarrett software dependencies and scripts. This will replace the standard kernel with one compiled for low interrupt latency. This scripts also installs the Peak PCAN driver:

cd ~/libbarrett/scripts && ./install_dependencies.sh

Compile libbarrett:

cd ~/libbarrett && cmake .
make -j$(nproc)

Install libbarrett:

sudo make install

Compile libbarrett example programs:

cd ~/libbarrett/examples && cmake .
make -j$(nproc)

Installing ROS

If your application is based on ROS, you can continue by installing our ROS package:

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