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Install and configure realtime kernel during computer setup #46

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94a7736
Add a new section to install & configure the realtime linux kernel
civerachb-cpr Aug 26, 2025
ed83022
Use an explicit array for limits
civerachb-cpr Aug 26, 2025
3903461
Fix backwards logic
civerachb-cpr Aug 26, 2025
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38 changes: 38 additions & 0 deletions clearpath_computer_installer.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -404,6 +404,39 @@ step_install_cuda() {
fi
}

step_setup_realtime() {
# create the realtime group if needed
if [ $(getent group realtime) ]; then
log_info "realtime group already exists";
else
log_info "Adding realtime group";
sudo addgroup realtime;
fi
if id -nGz "$(whoami)" | grep -qzxF "realtime"; then
log_info "User:$(whoami) is already in realtime group";
else
log_info "Adding user:$(whoami) to realtime group";
sudo usermod -a -G realtime $(whoami);
fi

# install the realtime kernel
sudo apt -y install linux-image-realtime

# configure realtime limits
declare -a limits=("@realtime soft rtprio 99"
"@realtime soft priority 99"
"@realtime soft memlock unlimited"
"@realtime hard rtprio 99"
"@realtime hard priority 99"
"@realtime hard memlock unlimited")

for limit in "${limits[@]}"; do
if [ -z "$(cat /etc/security/limits.conf) | grep \"$limit\"" ]; then
sudo bash -e "echo \"$limit\" >> /etc/security/limits.conf"
fi
done
}

log_space
log_info "Starting Clearpath Robotics Computer Installer"
log_space
Expand Down Expand Up @@ -450,6 +483,11 @@ if [ ! "$EUID" -eq 0 ]; then
rosdep -q update
log_done "Updating rosdep"

prompt_YESno configure_realtime "Would you like to install the realtime linux kernel (recommended)?"
if [[ "$configure_realtime" == "y" ]]; then
step_setup_realtime
fi

# Check if Clearpath folder exists
if [ -d /etc/clearpath/ ]; then
log_warn "Clearpath folder exist, skipping"
Expand Down