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 script also installs the Peak PCAN driver:

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

Compile libbarrett:

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

Install libbarrett:

sudo make install

Build the libbarrett example programs:

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

Get the WAM ready:

• Connect the WAM's CAN cable to the first port of your CAN device.
• Turn on the WAM.
• Ensure both E-Stop buttons are released by turning them a quarter-turn clockwise.

Then run an example program:

./ex04_display_basic_info

Press Shift+Idle on the WAM's Control Pendant to exit this application.

Installing ROS

If your application is based on ROS, you can continue by ​installing ROS Noetic.

Then install our ​barrett-ros-pkg.