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MoveIt2

Installation Required Dependencies

1. Installing the Preempt-RT Real-Time Patch on Ubuntu 22.04​

1.1 Check Kernel Version and Install Necessary Packages​

uname -a
RT1

1.2 Install Necessary Packages​

apt install autoconf automake libtool make libncurses-dev flex bison libelf-dev libssl-dev zstd net-tools

1.3 Download the Kernel and Patches​

https://mirrors.edge.kernel.org/pub/linux/kernel/

Download the Linux kernel from the Link. Find your version—it's not the small files above, scroll down to find the Linux kernel files starting with "Linux" that are over 100MB.

RT2
https://mirrors.edge.kernel.org/pub/linux/kernel/projects/rt/

Download the real-time patches from the Link. Make sure to choose the patch that matches your kernel version.

1.4 Extract and Apply the Patch​

tar -zxvf linux-5.19.tar.gz
xz -d patch-5.19-rt10.patch.xz
cd linux-5.19/
patch -p1 < ../patch-5.19-rt10.patch

1.5 Kernel Configuration​

make menuconfig

After entering the graphical configuration interface, perform the following operations:

  • General Setup -> Preemption Model -> Fully Preemptible Kernel(RT)
  • General Setup -> Timers subsystem -> Timer tick handling -> Full dynticks system
  • General Setup -> Timers subsystem -> High Resolution Timer Support
  • Processor type and features -> Timer frequency -> 1000 HZ

Remember to save and exit.

vi .config
CONFIG_SYSTEM_TRUSTED_KEYS=""

CONFIG_SYSTEM_REVOCATION_KEYS=""
RT3

Save and exit.

1.6 Compile and Install​

make -j8`nproc`

After completion:

make modules_install
make install

1.7 Configure GRUB Boot Options​

vim /etc/default/grub
  • Comment out the following line to display the boot menu:
GRUB_TIMEOUT_STYLE=hidden
  • Adjust the timeout value:
GRUB_TIMEOUT=5  # Timeout in seconds
  • Update GRUB configuration:
update-grub

1.8 Reboot​

RT5
RT6
RT7

1.9 Testing​

apt-get install rt-tests 
cyclictest -t 5 -p 80 -i 1000

cyclictest will perform 1000 cyclic tests over 5 seconds at the highest priority to measure the real-time performance of the Linux system. After the test, cyclictest will output statistical information about the test results.

RT8

2. ROS2-Humble​

It is easy to be installed by learning ROS2 documentation: Humble

humble

3. ROS2-Control​

It is easy to be installed by learning this link

4. MoveIt2​

It is easy to be installed by learning this link

5. IGH-EtherCAT​

5.1 Installing EtherLab​

It is easy to be installed by learning this link

5.2 Building ethercat_driver_ros2​

It is easy to be installed by learning this link

6. ROS2_eRob_MoveIt​

git clone https://github.com/wdb-123/ROS2_eRob_MoveIt
cd ROS2_eRob_MoveIt
colcon build 

source ./install/seup.bash

ros2 launch erob_position_control demo.launch.py