Preparing Linux Real-Time Kernel and Tuning Robotics Platform with Modern ARM64 SoC

Explore the process of preparing and tuning a Linux Real-Time kernel for a modern ARM64 SoC-based robotics platform in this 30-minute conference talk. Dive into the challenges and solutions encountered while configuring, testing, and deploying a mainline kernel with PREEMPT_RT patches on the Qualcomm Robotics RB5 platform. Learn about kernel configuration, effective testing methods, common bugs and their implications, system tuning techniques using kernel parameters and cgroups, and real-time evaluation strategies. Gain insights into troubleshooting latency spikes through tracing and discover valuable resources for optimizing performance on ARM64-based robotics systems.

Introduction
Test platform RB5
First steps
Kernel build configuration
Checking locking correctness
What can go wrong-disabled preemption
What can go wrong-memory allocation
Evaluation of the system - tools
Measurements - try 1 - busy 60%
Tuning the system - command line
Tuning the system - runtime
idle-basic tuning
Measurements - try 3 - busy 100% - full tuning
Latency spikes - tracing
Resources and references
Measurements-try 3 - busy 60% - full tuning