Version 1 (modified by bz, 16 months ago) (diff)


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):


Then install git:

sudo apt install git

Download the libbarrett source code:

cd && git clone -b feature/ubuntu2004

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 && ./

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: