franka_real_time_patch_script.sh

#!/bin/bash
set -eux

cat <<EOF
Real-time kernel patching. Per:
https://frankaemika.github.io/docs/installation_linux.html 

The just scriptifies stuff.
EOF

sudo apt-get install build-essential bc curl ca-certificates gnupg2 libssl-dev lsb-release libelf-dev bison flex dwarves zstd libncurses-dev

rm -rf ~/tmp/rt_kernel && mkdir -p ~/tmp/rt_kernel
cd ~/tmp/rt_kernel

curl -SLO https://www.kernel.org/pub/linux/kernel/v5.x/linux-5.9.1.tar.gz
curl -SLO https://www.kernel.org/pub/linux/kernel/v5.x/linux-5.9.1.tar.sign
curl -SLO https://www.kernel.org/pub/linux/kernel/projects/rt/5.9/patch-5.9.1-rt20.patch.gz
curl -SLO https://www.kernel.org/pub/linux/kernel/projects/rt/5.9/patch-5.9.1-rt20.patch.sign

gzip -d *.gz

(
    gpg2 --verify linux-*.tar.sign
    gpg2 --verify patch-*.patch.sign
) || (
    echo "Run: gpg2 --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys <key>"
    exit 1;
)

tar xf linux-*.tar
cd linux-*/
patch -p1 < ../patch-*.patch

cp -v /boot/config-$(uname -r) .config

# TODO(eric.cousineau): how to automate this?
cat <<'EOF'
When `make menuconfig` pops up TUI:

    General Setup > Preemption Model
        Select Fully Preemptible Kernel (Real-Time).
    Cryptographic API > Certificates for signature checking (at the very bottom of the list)
        > Provide system-wide ring of trusted keys
            > Additional X.509 keys for default system keyring
                Remove the “debian/canonical-certs.pem” from the prompt
    Save and exit
EOF

make olddefconfig
make menuconfig

make -j$(nproc) deb-pkg

sudo dpkg -i ../linux-headers-*.deb ../linux-image-*.deb

sudo addgroup realtime
sudo usermod -a -G realtime $(whoami)

cat <<'EOF'
For limits:

    sudoedit /etc/security/limits.conf
    Add
        # https://frankaemika.github.io/docs/installation_linux.html#allow-a-user-to-set-real-time-permissions-for-its-processes
        @realtime soft rtprio 99
        @realtime soft priority 99
        @realtime soft memlock 102400
        @realtime hard rtprio 99
        @realtime hard priority 99
        @realtime hard memlock 102400


For grub:

    sudoedit /etc/default/grub
        Change:
            GRUB_TIMEOUT_STYLE=menu #countdown
            GRUB_TIMEOUT=20
            ...
            GRUB_CMDLINE_LINUX_DEFAULT=""  # quiet splash
    sudo update-grub

Then reboot
EOF