= Ubuntu 20.04, low-latency, non-realtime =

Start by [https://releases.ubuntu.com/20.04/ 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:

{{{
blah
}}}