= 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 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 [http://wiki.ros.org/noetic/Installation/Ubuntu installing ROS Noetic].

Then install our [https://git.barrett.com/software/barrett-ros-pkg barrett-ros-pkg].