= Ubuntu 20.04, low-latency, non-realtime = Start by [https://releases.ubuntu.com/20.04/ installing Ubuntu 20.04]. Install Peak CAN card hardware: * PCAN-PCI * PCAN-PCIe * PCAN-USB * PCAN-ISA NOTE: These cards are supported by the SocketCAN driver built into Linux, however, we have found that the SocketCAN txbuffer can occasionally fail to send CAN frames without reporting an error, and this causes the WAM to E-Stop itself unexpectedly. This can happen a few seconds, a few minutes, or even several hours after starting a WAM application. Fortunately, Peak offers an alternative driver (pcan) which is still socket-based but avoids this SocketCAN bug. 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. {{{ cd ~/libbarrett/scripts && ~/libbarrett/scripts/install_dependencies.sh }}} Reboot into the new kernel: {{{ sudo reboot }}} Build and install the Peak pcan driver: {{{ sh ~/libbarrett/scripts/install-pcan.sh }}} For PCAN-ISA only: {{{ sudo tee /etc/modprobe.d/pcan.conf <