museum-future
commented
4 years ago Why did you disable compression? What values did you use for zswap?
Closed rickstaa closed 3 years ago
museum-future
commented
4 years ago Why did you disable compression? What values did you use for zswap?
rickstaa
commented
4 years ago @museum-future Thanks for looking into the problem. I disabled the LZ4 compression since when I kept, it enabled I gave me an error during compilation. Below I added a more detailed debug report of the problems I experienced when trying to compile the kernel using the steps provided by the franka documentation.
When trying to compile the rt kernel using the fakeroot make -j4 deb-pkg command that is given in the franka documentation I get the following error:
Makefile:613: include/config/auto.conf: No such file or directory
Makefile:659: include/config/auto.conf.cmd: No such file or directory
HOSTCC scripts/basic/fixdep
HOSTCC scripts/kconfig/conf.o
HOSTCC scripts/kconfig/confdata.o
HOSTCC scripts/kconfig/expr.o
LEX scripts/kconfig/lexer.lex.c
YACC scripts/kconfig/parser.tab.[ch]
HOSTCC scripts/kconfig/preprocess.o
HOSTCC scripts/kconfig/symbol.o
HOSTCC scripts/kconfig/lexer.lex.o
HOSTCC scripts/kconfig/parser.tab.o
HOSTLD scripts/kconfig/conf
scripts/kconfig/conf --syncconfig Kconfig
UPD include/config/kernel.release
make clean
sh ./scripts/package/mkdebian
TAR linux-5.4.26-rt17.tar.gz
origversion=$(dpkg-parsechangelog -SVersion |sed 's/-[^-]*$//');\
mv linux-5.4.26-rt17.tar.gz ../linux-5.4.26-rt17_${origversion}.orig.tar.gz
dpkg-buildpackage -r"fakeroot -u" -a$(cat debian/arch) -i.git -us -uc
dpkg-buildpackage: warning: using a gain-root-command while being root
dpkg-buildpackage: info: source package linux-5.4.26-rt17
dpkg-buildpackage: info: source version 5.4.26-rt17-1
dpkg-buildpackage: info: source distribution bionic
dpkg-buildpackage: info: source changed by root <root@ricks-HP-ZBook-Studio-x360-G5-Ubutu18>
dpkg-buildpackage: info: host architecture amd64
dpkg-source -i.git --before-build linux-5.4.26
fakeroot -u debian/rules clean
fakeroot: FAKEROOTKEY set to 894722995
fakeroot: nested operation not yet supported
dpkg-buildpackage: error: fakeroot -u debian/rules clean subprocess returned exit status 1
scripts/Makefile.package:73: recipe for target 'deb-pkg' failed
make[1]: *** [deb-pkg] Error 1
Makefile:1425: recipe for target 'deb-pkg' failed
make: *** [deb-pkg] Error 2
[13:28:08] ricks@ricks-HP-ZBook-Studio-x360-G5-UbAs I was not able to solve this problem I used the make -j $(nproc) bzImage command instead. While doing this when LZ4 compression is enabled I howver get the following error:
/bin/sh: 1: lz4c: not found
arch/x86/boot/compressed/Makefile:146: recipe for target 'arch/x86/boot/compressed/vmlinux.bin.lz4' failed
make[2]: *** [arch/x86/boot/compressed/vmlinux.bin.lz4] Error 127
make[2]: *** Deleting file 'arch/x86/boot/compressed/vmlinux.bin.lz4'
make[2]: *** Waiting for unfinished jobs....
arch/x86/boot/Makefile:112: recipe for target 'arch/x86/boot/compressed/vmlinux' failed
make[1]: *** [arch/x86/boot/compressed/vmlinux] Error 2
arch/x86/Makefile:284: recipe for target 'bzImage' failed
make: *** [bzImage] Error 2An explanation about this issue can be found here. At the time of writing, I did, however not know what caused the problem as I had both the liblz4-1 and liblz4-dev packages installed. This problem, however, is solved by installing the liblz4-tool package. As a result, I can now compile the rt-kernel using the following (updated) steps:
apt-get install build-essential bc curl ca-certificates fakeroot gnupg2 libssl-dev lsb-release libelf-dev bison flex liblz4-tool libncurses-dev libssl-dev (The liblz4-tool dependency is added here since it is not installed by default on ubuntu 18.04). tar -xvf Linux-5.4.26.tar.cd linux-5.4.26.patch -p1 < ../patch-5.4.26-rt17.patch.make menuconfig and change the Preemption Model to Fully Preemptible Kernel (RT) (PREEMPT_RT_FULL) (NEW) (see this stack question for more info).scripts/config --disable DEBUG_INFO (Not needed but recommended).make clean.make -j $(nproc) bzImage.make -j $(nproc) modules.make -j $(nproc) modules_install.make -j $(nproc) install.The config file I use when trying to compile the realtime kernel can be found in this gist.
rickstaa
commented
3 years ago @museum-future Just a heads up, this issue still exists under ubuntu 20.04 with the 5.9 kernels. For me, the solution I gave earlier does not work anymore. Another solution is found on https://stackoverflow.com/questions/51669724/install-rt-linux-patch-for-ubuntu. This solution, however, does not work on my system.
rickstaa
commented
3 years ago Closed to the discussion in one place. The new issue is https://github.com/frankaemika/franka_ros/issues/101.
rickstaa
commented
3 years ago I found out that the instructions I posted earlier do not work anymore on my system using ubuntu 20.04. Below you will therefore find my instructions for building the real-time kernel on ubuntu 20.04 and higher from the source. Please note that as pointed out by the comment below of @gavanderhoorn this is not recommended and is only to be used unless it can't be helped. For the recommended way, see my newer answer.
OS: Ubuntu 20.04 Default kernel: 5.8.0-53 PC: HP Zbook G5 Studio x360 RAM: 2x32 GB Samsung M471A4G43MB1-CTD geheugenmodule 32 GB DDR4 2666 MHz GPU: Nvidia Quadro P1000 CPU: Intel(R) Core(TM) i7-8750H CPU @ 2.20GHz
| OS | Kernel | Patch | Build status | Install status | Problems | Comment |
|---|---|---|---|---|---|---|
| Ubuntu 20.04 | 5.6.19 | patch-5.6.19-rt12 | ✅ | ✅ | ✅ | For the system to boot, I needed to apply the additional steps below. |
| Ubuntu 20.04 | 5.4.26 | patch-5.4.26-rt16 | ✅ | ✅ | ✅ | For the system to boot, I needed to apply the additional steps below. |
| Ubuntu 20.04 | 5.4.26 | patch-5.9.1-rt20 | ✅ | ✅ | ❌ | For the system to boot, I needed to apply the additional steps below. Also, Bluetooth is disconnected at every boot. |
See this StackOverflow question for how to remove a (manually) installed kernel.
gavanderhoorn
commented
3 years ago make deb-pkg is the recommended way to build .debs for kernel images and headers on Debian (and by extension, Ubuntu). See Building a custom kernel from Debian kernel source in the Debian Kernel handbook.
Personally I wouldn't sudo make install .. anything on OS with a package manager, unless it can't be helped.
After patching the kernel and copying the old config to .config, I had to empty out CONFIG_SYSTEM_TRUSTED_KEYS, then make olddefconfig, then make menuconfig to configure the necessary options, then make clean and finally make deb-pkg (with -jN where N a large nr to not have to wait too long). That resulted in all the expected .debs.
I ran everything in a ubuntu:bionic container, perhaps that helped avoid running into issues with incompatible build environments on systems-in-use.
(I haven't deployed the kernels built this way yet, but seeing as it's the same process as always, I don't expect any difficulties. The target systems do not have nvidia GPUs, so thankfully I'll be spared that bit of trouble)
rickstaa
commented
3 years ago @gavanderhoorn Thanks a lot for helping me out again. I tested your steps, and with a tiny configuration change, I can now compile any of the real-time kernel patches in the kernel repository. I also see why it is the recommended way, it boots a lot faster than the real-time kernel, and it gives a warning that the Nvidia drivers are not supported for booting the real-time kernel. So I marked my steps above as non-recommended and added the new steps below.
After the comment @gavanderhoorn, I found the proper steps for building the real-time kernel using the deb-pkg package. These steps are very much in line with the franka documentation. Below, I marked the changed I had to make relative to the documentation to make it work no my system. Keep in mind that different steps might be needed on your system.
To have a successful build, I needed to copy the default kernel configuration into the patched kernel. I did this using the following commands:
cd linux-5.6.19
cp -v /boot/config-$(uname -r) .configWhile doing this, you have to make sure that the kernel you are currently booted into is the same as the kernel you are trying to patch (for an excellent tool to install kernel version click here).
Similar to the steps of @gavanderhoorn, I had to use the make olddefconfig command instead of the make oldconfig given in the documentation. This makes sure that the defaults are used. After this, I could use the make menuconfig command to set up the PREEMPT RT variable.
On my system in the .config file, I had to disable the CONFIG_DEBUG_INFO_BTF option as otherwise, it would give me an error explaining that the dwarves package is not recent enough. If you need the debug information, you can also install version 1.17 of the dwarves package.
I had to execute the make clean command on my system before building the package on my system.
On my system, I could not use the fakeroot package to build the kernel as it would give me a fakeroot: nested operation not yet supported error. This resulted in the following build command make deb-pkg -j $(nproc). As on my system, I have root access, so I do not need this package. For people that need to use this package, please see franka_ros/issues/101.
After all these changes, I could install the .deb package using the dpkg package.
When you are using NVidia drivers on any of your other kernels, Nvidia doesn't offer support for these custom kernels (see this post), you have to switch back to nouveau drivers before you try to boot the real-time kernel. A guide to ease this process can be found here and in this stackoverflow post.
carismoses
commented
2 years ago @rickstaa I tried your (OLD) instructions with the same Ubuntu version (18.04) and kernel version (5.4.26) and got the following error. Did you encounter any errors like this?
caris@machine:~/linux-5.4.26$ make -j $(nproc) modules_install
cp: cannot stat './modules.builtin.modinfo': No such file or directory
Makefile:1307: recipe for target '_modinst_' failed
make: *** [_modinst_] Error 1@carismoses I can vaguely remember that I saw that issue. I however noticed that the issues that are encountered with the (OLD) method are dependent on your system and the settings set in make menuconfig. I would advise you to use https://github.com/frankaemika/libfranka/issues/62#issuecomment-846375127 or if that doesn't work https://github.com/frankaemika/libfranka/issues/62#issuecomment-844970384. If both these recipes don't work and the steps in the documentation also not work, you can also create a new issue.
carismoses
commented
2 years ago I was actually able to resolve it by changing one of the config options based on this post.
scripts/config --set-str SYSTEM_TRUSTED_KEYS ""@carismoses Great to hear you solved it, and thanks for sharing your solution.
gollth
commented
2 years ago Thank you all for solving this issue. We updated the documentation with the findings from you
medashan
commented
2 years ago Hello, I am trying to set the real-time kernel. Unfortunately, I am getting errors when I try to connect to the UR5 robot externally. I think I might be missing something, and I couldn't recognize it. I was able to use the setup guide and also followed some of the known issues. However, I wasn't successful.
I checked to see if the new kernel was active/installed, and it seems to be okay.
Here is the screenshot of the errors I am getting when I connect the UR5 robot.
I knew that there were multiple issues here.
The first two issues were present before I installed the new rt kernel. The third issue came after I installed the new rt kernel. I have also generated a new calibration file; however, I am still getting the error. I thought fixing the real-time kernel issue would clear all problems. But it didn't.
I am happy to share more information if needed. Any help would be greatly appreciated. Thank you.
gollth
commented
2 years ago Hello @medashan,
you do know that libfranka is used for Panda robots not UR5s right? I suggest you open a ticket in their Github or, better yet, buy our robot ;)
medashan
commented
2 years ago Sorry, I didn't know that. Thanks for letting me know.
yijionglin
commented
8 months ago Hi @rickstaa ,
Thanks for your elaborate testing on this bit!
I am trying to install a real-time kernel with Ubuntu 2204. I tried to install the RT kernel following the document, however it failed in the 'make -j$(nproc) deb-pkg' process where I got some error similar to this one.
Specifically, I first tried to install the RT 6.2.1 kernel with my current 6.2.0-34-generic kernel running, as the document says we'd better pick the closest version, the full commands are:
$ uname -a
$ sudo apt-get install build-essential bc curl ca-certificates gnupg2 libssl-dev lsb-release libelf-dev bison flex dwarves zstd libncurses-dev
$ mkdir rtk
$ cd rtk/
$ curl -SLO https://www.kernel.org/pub/linux/kernel/v6.x/linux-6.2.1.tar.xz
$ curl -SLO https://www.kernel.org/pub/linux/kernel/v6.x/linux-6.2.1.tar.sign
$ curl -SLO https://mirrors.edge.kernel.org/pub/linux/kernel/projects/rt/6.2/patch-6.2-rt3.patch.xz
$ curl -SLO https://mirrors.edge.kernel.org/pub/linux/kernel/projects/rt/6.2/patch-6.2-rt3.patch.sign
$ xz -d *.xz
$ gpg2 --verify linux-*.tar.sign
$ gpg2 --verify patch-*.patch.sign
$ tar xf linux-*.tar
$ cd linux-*/
$ patch -p1 < ../patch-*.patch
$ cp -v /boot/config-$(uname -r) .config
$ make olddefconfig
$ make menuconfig
$ make -j$(nproc) deb-pkgThis failed after around 15 mins and showed something like:
...
CC [M] drivers/comedi/drivers/ni_labpc_common.o
CC [M] drivers/comedi/drivers/ni_labpc_isadma.o
LD [M] drivers/iio/pressure/st_pressure.o
CC [M] drivers/comedi/drivers/comedi_8255.o
CC [M] drivers/infiniband/hw/hfi1/debugfs.o
CC [M] drivers/comedi/drivers/8255.o
CC [M] drivers/comedi/drivers/amplc_dio200_common.o
CC [M] drivers/comedi/drivers/amplc_pc236_common.o
CC [M] drivers/comedi/drivers/das08.o
LD [M] drivers/comedi/drivers/ni_routing.o
LD [M] drivers/infiniband/hw/hfi1/hfi1.o
make[3]: *** [Makefile:2021: .] Error 2
make[2]: *** [debian/rules:7: build-arch] Error 2
dpkg-buildpackage: error: debian/rules binary subprocess returned exit status 2
make[1]: *** [scripts/Makefile.package:90: deb-pkg] Error 2
make: *** [Makefile:1665: deb-pkg] Error 2Later, I also tried first installing the 6.2.1 kernel with a tool called Ukuu Mainline following here, and then rebooted and selected the 6.2.1 kernel (used "uname -r" to confirm it). After that, I ran exactly the same steps from the Franka document. And it still met the same error.
Could you please give me some suggestions on this bit?
Many thanks, Bourne
yijionglin
commented
8 months ago Hi @rickstaa ,
Thanks for your elaborate testing on this bit!
I am trying to install a real-time kernel with Ubuntu 2204. I tried to install the RT kernel following the document, however it failed in the 'make -j$(nproc) deb-pkg' process where I got some error similar to this one.
Specifically, I first tried to install the RT 6.2.1 kernel with my current 6.2.0-34-generic kernel running, as the document says we'd better pick the closest version, the full commands are:
$ uname -a $ sudo apt-get install build-essential bc curl ca-certificates gnupg2 libssl-dev lsb-release libelf-dev bison flex dwarves zstd libncurses-dev $ mkdir rtk $ cd rtk/ $ curl -SLO https://www.kernel.org/pub/linux/kernel/v6.x/linux-6.2.1.tar.xz $ curl -SLO https://www.kernel.org/pub/linux/kernel/v6.x/linux-6.2.1.tar.sign $ curl -SLO https://mirrors.edge.kernel.org/pub/linux/kernel/projects/rt/6.2/patch-6.2-rt3.patch.xz $ curl -SLO https://mirrors.edge.kernel.org/pub/linux/kernel/projects/rt/6.2/patch-6.2-rt3.patch.sign $ xz -d *.xz $ gpg2 --verify linux-*.tar.sign $ gpg2 --verify patch-*.patch.sign $ tar xf linux-*.tar $ cd linux-*/ $ patch -p1 < ../patch-*.patch $ cp -v /boot/config-$(uname -r) .config $ make olddefconfig $ make menuconfig $ make -j$(nproc) deb-pkgThis failed after around 15 mins and showed something like:
... CC [M] drivers/comedi/drivers/ni_labpc_common.o CC [M] drivers/comedi/drivers/ni_labpc_isadma.o LD [M] drivers/iio/pressure/st_pressure.o CC [M] drivers/comedi/drivers/comedi_8255.o CC [M] drivers/infiniband/hw/hfi1/debugfs.o CC [M] drivers/comedi/drivers/8255.o CC [M] drivers/comedi/drivers/amplc_dio200_common.o CC [M] drivers/comedi/drivers/amplc_pc236_common.o CC [M] drivers/comedi/drivers/das08.o LD [M] drivers/comedi/drivers/ni_routing.o LD [M] drivers/infiniband/hw/hfi1/hfi1.o make[3]: *** [Makefile:2021: .] Error 2 make[2]: *** [debian/rules:7: build-arch] Error 2 dpkg-buildpackage: error: debian/rules binary subprocess returned exit status 2 make[1]: *** [scripts/Makefile.package:90: deb-pkg] Error 2 make: *** [Makefile:1665: deb-pkg] Error 2Later, I also tried first installing the 6.2.1 kernel with a tool called Ukuu Mainline following here, and then rebooted and selected the 6.2.1 kernel (used "uname -r" to confirm it). After that, I ran exactly the same steps from the Franka document. And it still met the same error.
Could you please give me some suggestions on this bit?
Many thanks, Bourne
By the way, when I tried to run the command 'make -j$(nproc) deb-pkg' again after the previous error showed up, this time it didn't do the build that long and stopped within 10 seconds with this error:
(franka) bourne@bourne:~/dev/franka/rtk/linux-6.2.1$ make -j$(nproc) deb-pkg
make clean
CLEAN arch/x86/lib
CLEAN crypto/asymmetric_keys
CLEAN arch/x86/crypto
CLEAN init
CLEAN arch/x86/kvm
CLEAN arch/x86/entry/vdso
CLEAN drivers/accessibility/speakup
CLEAN kernel/debug/kdb
CLEAN security/apparmor
CLEAN arch/x86/kernel/cpu
CLEAN net/bpfilter
CLEAN usr
CLEAN arch/x86/kernel
CLEAN lib/raid6
CLEAN arch/x86/purgatory
CLEAN arch/x86/realmode/rm
CLEAN security/selinux
CLEAN lib
CLEAN arch/x86/tools
CLEAN security/tomoyo
CLEAN kernel
CLEAN drivers/eisa
CLEAN drivers/firmware/efi/libstub
CLEAN net/wireless
CLEAN fs/unicode
CLEAN drivers/gpu/drm/radeon
CLEAN drivers/net/wan
CLEAN drivers/scsi/aic7xxx
CLEAN drivers/tty/vt
CLEAN drivers/scsi
CLEAN .
sh ./scripts/package/mkdebian
TAR linux-upstream.tar.gz
origversion=$(dpkg-parsechangelog -SVersion |sed 's/-[^-]*$//');\
mv linux-upstream.tar.gz ../linux-upstream_${origversion}.orig.tar.gz
dpkg-buildpackage -r"fakeroot -u" -a$(cat debian/arch) -i.git -us -uc
dpkg-buildpackage: info: source package linux-upstream
dpkg-buildpackage: info: source version 6.2.1-rt3-2
dpkg-buildpackage: info: source distribution jammy
dpkg-buildpackage: info: source changed by bourne <bourne@bourne>
dpkg-buildpackage: info: host architecture amd64
dpkg-source -i.git --before-build .
debian/rules clean
rm -rf debian/*tmp debian/files
make clean
dpkg-source -i.git -b .
dpkg-source: info: using source format '1.0'
dpkg-source: warning: source directory 'linux-6.2.1' is not <sourcepackage>-<upstreamversion> 'linux-upstream-6.2.1-rt3'
dpkg-source: warning: .orig directory name linux-6.2.1.orig is not <package>-<upstreamversion> (wanted linux-upstream-6.2.1-rt3.orig)
dpkg-source: info: building linux-upstream using existing linux-upstream_6.2.1-rt3.orig.tar.gz
dpkg-source: info: building linux-upstream in linux-upstream_6.2.1-rt3-2.diff.gz
dpkg-source: error: cannot represent change to vmlinux-gdb.py:
dpkg-source: error: new version is symlink to /home/bourne/dev/franka/rtk/linux-6.2.1/scripts/gdb/vmlinux-gdb.py
dpkg-source: error: old version is nonexistent
dpkg-source: warning: ignoring deletion of file .scmversion
dpkg-source: warning: the diff modifies the following upstream files:
.clang-format
.cocciconfig
.config.old
.get_maintainer.ignore
.mailmap
.rustfmt.toml
.version
CREDITS
MAINTAINERS
README
dpkg-source: info: use the '3.0 (quilt)' format to have separate and documented changes to upstream files, see dpkg-source(1)
dpkg-source: error: unrepresentable changes to source
dpkg-buildpackage: error: dpkg-source -i.git -b . subprocess returned exit status 1
make[1]: *** [scripts/Makefile.package:90: deb-pkg] Error 1
make: *** [Makefile:1665: deb-pkg] Error 2Hi @rickstaa , Thanks for your elaborate testing on this bit! I am trying to install a real-time kernel with Ubuntu 2204. I tried to install the RT kernel following the document, however it failed in the 'make -j$(nproc) deb-pkg' process where I got some error similar to this one. Specifically, I first tried to install the RT 6.2.1 kernel with my current 6.2.0-34-generic kernel running, as the document says we'd better pick the closest version, the full commands are:
$ uname -a $ sudo apt-get install build-essential bc curl ca-certificates gnupg2 libssl-dev lsb-release libelf-dev bison flex dwarves zstd libncurses-dev $ mkdir rtk $ cd rtk/ $ curl -SLO https://www.kernel.org/pub/linux/kernel/v6.x/linux-6.2.1.tar.xz $ curl -SLO https://www.kernel.org/pub/linux/kernel/v6.x/linux-6.2.1.tar.sign $ curl -SLO https://mirrors.edge.kernel.org/pub/linux/kernel/projects/rt/6.2/patch-6.2-rt3.patch.xz $ curl -SLO https://mirrors.edge.kernel.org/pub/linux/kernel/projects/rt/6.2/patch-6.2-rt3.patch.sign $ xz -d *.xz $ gpg2 --verify linux-*.tar.sign $ gpg2 --verify patch-*.patch.sign $ tar xf linux-*.tar $ cd linux-*/ $ patch -p1 < ../patch-*.patch $ cp -v /boot/config-$(uname -r) .config $ make olddefconfig $ make menuconfig $ make -j$(nproc) deb-pkgThis failed after around 15 mins and showed something like:
... CC [M] drivers/comedi/drivers/ni_labpc_common.o CC [M] drivers/comedi/drivers/ni_labpc_isadma.o LD [M] drivers/iio/pressure/st_pressure.o CC [M] drivers/comedi/drivers/comedi_8255.o CC [M] drivers/infiniband/hw/hfi1/debugfs.o CC [M] drivers/comedi/drivers/8255.o CC [M] drivers/comedi/drivers/amplc_dio200_common.o CC [M] drivers/comedi/drivers/amplc_pc236_common.o CC [M] drivers/comedi/drivers/das08.o LD [M] drivers/comedi/drivers/ni_routing.o LD [M] drivers/infiniband/hw/hfi1/hfi1.o make[3]: *** [Makefile:2021: .] Error 2 make[2]: *** [debian/rules:7: build-arch] Error 2 dpkg-buildpackage: error: debian/rules binary subprocess returned exit status 2 make[1]: *** [scripts/Makefile.package:90: deb-pkg] Error 2 make: *** [Makefile:1665: deb-pkg] Error 2Later, I also tried first installing the 6.2.1 kernel with a tool called Ukuu Mainline following here, and then rebooted and selected the 6.2.1 kernel (used "uname -r" to confirm it). After that, I ran exactly the same steps from the Franka document. And it still met the same error. Could you please give me some suggestions on this bit? Many thanks, Bourne
By the way, when I tried to run the command 'make -j$(nproc) deb-pkg' again after the previous error showed up, this time it didn't do the build that long and stopped within 10 seconds with this error:
(franka) bourne@bourne:~/dev/franka/rtk/linux-6.2.1$ make -j$(nproc) deb-pkg make clean CLEAN arch/x86/lib CLEAN crypto/asymmetric_keys CLEAN arch/x86/crypto CLEAN init CLEAN arch/x86/kvm CLEAN arch/x86/entry/vdso CLEAN drivers/accessibility/speakup CLEAN kernel/debug/kdb CLEAN security/apparmor CLEAN arch/x86/kernel/cpu CLEAN net/bpfilter CLEAN usr CLEAN arch/x86/kernel CLEAN lib/raid6 CLEAN arch/x86/purgatory CLEAN arch/x86/realmode/rm CLEAN security/selinux CLEAN lib CLEAN arch/x86/tools CLEAN security/tomoyo CLEAN kernel CLEAN drivers/eisa CLEAN drivers/firmware/efi/libstub CLEAN net/wireless CLEAN fs/unicode CLEAN drivers/gpu/drm/radeon CLEAN drivers/net/wan CLEAN drivers/scsi/aic7xxx CLEAN drivers/tty/vt CLEAN drivers/scsi CLEAN . sh ./scripts/package/mkdebian TAR linux-upstream.tar.gz origversion=$(dpkg-parsechangelog -SVersion |sed 's/-[^-]*$//');\ mv linux-upstream.tar.gz ../linux-upstream_${origversion}.orig.tar.gz dpkg-buildpackage -r"fakeroot -u" -a$(cat debian/arch) -i.git -us -uc dpkg-buildpackage: info: source package linux-upstream dpkg-buildpackage: info: source version 6.2.1-rt3-2 dpkg-buildpackage: info: source distribution jammy dpkg-buildpackage: info: source changed by bourne <bourne@bourne> dpkg-buildpackage: info: host architecture amd64 dpkg-source -i.git --before-build . debian/rules clean rm -rf debian/*tmp debian/files make clean dpkg-source -i.git -b . dpkg-source: info: using source format '1.0' dpkg-source: warning: source directory 'linux-6.2.1' is not <sourcepackage>-<upstreamversion> 'linux-upstream-6.2.1-rt3' dpkg-source: warning: .orig directory name linux-6.2.1.orig is not <package>-<upstreamversion> (wanted linux-upstream-6.2.1-rt3.orig) dpkg-source: info: building linux-upstream using existing linux-upstream_6.2.1-rt3.orig.tar.gz dpkg-source: info: building linux-upstream in linux-upstream_6.2.1-rt3-2.diff.gz dpkg-source: error: cannot represent change to vmlinux-gdb.py: dpkg-source: error: new version is symlink to /home/bourne/dev/franka/rtk/linux-6.2.1/scripts/gdb/vmlinux-gdb.py dpkg-source: error: old version is nonexistent dpkg-source: warning: ignoring deletion of file .scmversion dpkg-source: warning: the diff modifies the following upstream files: .clang-format .cocciconfig .config.old .get_maintainer.ignore .mailmap .rustfmt.toml .version CREDITS MAINTAINERS README dpkg-source: info: use the '3.0 (quilt)' format to have separate and documented changes to upstream files, see dpkg-source(1) dpkg-source: error: unrepresentable changes to source dpkg-buildpackage: error: dpkg-source -i.git -b . subprocess returned exit status 1 make[1]: *** [scripts/Makefile.package:90: deb-pkg] Error 1 make: *** [Makefile:1665: deb-pkg] Error 2
I am able to install the RT kernel with Ubuntu 22.04 now thanks to my genius fellow. And here is the solution:
Follow all the lines posted here.
Before sudo make, you need to modify these lines in the .config file copied from /boot/config-xxxx-generic:
CONFIG_SYSTEM_TRUSTED_KEYS="debian/canonical-certs.pem"
Change this to this:
CONFIG_SYSTEM_TRUSTED_KEYS=""
And
CONFIG_SYSTEM_REVOCATION_KEYS="debian/canonical-revoked-certs.pem"
to
CONFIG_SYSTEM_REVOCATION_KEYS=""
(The latter key has been added to the default Canonical kernel configuration since some time.)
As we disable the keys, instead of make -j$(nproc) deb-pkg, we just used make -j$(nproc) omitting deb-pkg. Otherwise we would meet some errors related to the dpkgs-source.
FYI, my current kernel is 6.2.0-34-generic and the RT kernel I installed is 6.2.1-rt3. I tried kernel 5.15.96-rt61 which also worked. My experience is: when you do make -j$(nproc) deb-pkg, if there is any error prompt, it probably does not show the real error caused by debian package or configuration. Might be wrong with this bit.
Reference:
rickstaa
commented
8 months ago Hi @rickstaa , Thanks for your elaborate testing on this bit! I am trying to install a real-time kernel with Ubuntu 2204. I tried to install the RT kernel following the document, however it failed in the 'make -j$(nproc) deb-pkg' process where I got some error similar to this one. Specifically, I first tried to install the RT 6.2.1 kernel with my current 6.2.0-34-generic kernel running, as the document says we'd better pick the closest version, the full commands are:
$ uname -a $ sudo apt-get install build-essential bc curl ca-certificates gnupg2 libssl-dev lsb-release libelf-dev bison flex dwarves zstd libncurses-dev $ mkdir rtk $ cd rtk/ $ curl -SLO https://www.kernel.org/pub/linux/kernel/v6.x/linux-6.2.1.tar.xz $ curl -SLO https://www.kernel.org/pub/linux/kernel/v6.x/linux-6.2.1.tar.sign $ curl -SLO https://mirrors.edge.kernel.org/pub/linux/kernel/projects/rt/6.2/patch-6.2-rt3.patch.xz $ curl -SLO https://mirrors.edge.kernel.org/pub/linux/kernel/projects/rt/6.2/patch-6.2-rt3.patch.sign $ xz -d *.xz $ gpg2 --verify linux-*.tar.sign $ gpg2 --verify patch-*.patch.sign $ tar xf linux-*.tar $ cd linux-*/ $ patch -p1 < ../patch-*.patch $ cp -v /boot/config-$(uname -r) .config $ make olddefconfig $ make menuconfig $ make -j$(nproc) deb-pkgThis failed after around 15 mins and showed something like:
... CC [M] drivers/comedi/drivers/ni_labpc_common.o CC [M] drivers/comedi/drivers/ni_labpc_isadma.o LD [M] drivers/iio/pressure/st_pressure.o CC [M] drivers/comedi/drivers/comedi_8255.o CC [M] drivers/infiniband/hw/hfi1/debugfs.o CC [M] drivers/comedi/drivers/8255.o CC [M] drivers/comedi/drivers/amplc_dio200_common.o CC [M] drivers/comedi/drivers/amplc_pc236_common.o CC [M] drivers/comedi/drivers/das08.o LD [M] drivers/comedi/drivers/ni_routing.o LD [M] drivers/infiniband/hw/hfi1/hfi1.o make[3]: *** [Makefile:2021: .] Error 2 make[2]: *** [debian/rules:7: build-arch] Error 2 dpkg-buildpackage: error: debian/rules binary subprocess returned exit status 2 make[1]: *** [scripts/Makefile.package:90: deb-pkg] Error 2 make: *** [Makefile:1665: deb-pkg] Error 2Later, I also tried first installing the 6.2.1 kernel with a tool called Ukuu Mainline following here, and then rebooted and selected the 6.2.1 kernel (used "uname -r" to confirm it). After that, I ran exactly the same steps from the Franka document. And it still met the same error. Could you please give me some suggestions on this bit? Many thanks, Bourne
By the way, when I tried to run the command 'make -j$(nproc) deb-pkg' again after the previous error showed up, this time it didn't do the build that long and stopped within 10 seconds with this error:
(franka) bourne@bourne:~/dev/franka/rtk/linux-6.2.1$ make -j$(nproc) deb-pkg make clean CLEAN arch/x86/lib CLEAN crypto/asymmetric_keys CLEAN arch/x86/crypto CLEAN init CLEAN arch/x86/kvm CLEAN arch/x86/entry/vdso CLEAN drivers/accessibility/speakup CLEAN kernel/debug/kdb CLEAN security/apparmor CLEAN arch/x86/kernel/cpu CLEAN net/bpfilter CLEAN usr CLEAN arch/x86/kernel CLEAN lib/raid6 CLEAN arch/x86/purgatory CLEAN arch/x86/realmode/rm CLEAN security/selinux CLEAN lib CLEAN arch/x86/tools CLEAN security/tomoyo CLEAN kernel CLEAN drivers/eisa CLEAN drivers/firmware/efi/libstub CLEAN net/wireless CLEAN fs/unicode CLEAN drivers/gpu/drm/radeon CLEAN drivers/net/wan CLEAN drivers/scsi/aic7xxx CLEAN drivers/tty/vt CLEAN drivers/scsi CLEAN . sh ./scripts/package/mkdebian TAR linux-upstream.tar.gz origversion=$(dpkg-parsechangelog -SVersion |sed 's/-[^-]*$//');\ mv linux-upstream.tar.gz ../linux-upstream_${origversion}.orig.tar.gz dpkg-buildpackage -r"fakeroot -u" -a$(cat debian/arch) -i.git -us -uc dpkg-buildpackage: info: source package linux-upstream dpkg-buildpackage: info: source version 6.2.1-rt3-2 dpkg-buildpackage: info: source distribution jammy dpkg-buildpackage: info: source changed by bourne <bourne@bourne> dpkg-buildpackage: info: host architecture amd64 dpkg-source -i.git --before-build . debian/rules clean rm -rf debian/*tmp debian/files make clean dpkg-source -i.git -b . dpkg-source: info: using source format '1.0' dpkg-source: warning: source directory 'linux-6.2.1' is not <sourcepackage>-<upstreamversion> 'linux-upstream-6.2.1-rt3' dpkg-source: warning: .orig directory name linux-6.2.1.orig is not <package>-<upstreamversion> (wanted linux-upstream-6.2.1-rt3.orig) dpkg-source: info: building linux-upstream using existing linux-upstream_6.2.1-rt3.orig.tar.gz dpkg-source: info: building linux-upstream in linux-upstream_6.2.1-rt3-2.diff.gz dpkg-source: error: cannot represent change to vmlinux-gdb.py: dpkg-source: error: new version is symlink to /home/bourne/dev/franka/rtk/linux-6.2.1/scripts/gdb/vmlinux-gdb.py dpkg-source: error: old version is nonexistent dpkg-source: warning: ignoring deletion of file .scmversion dpkg-source: warning: the diff modifies the following upstream files: .clang-format .cocciconfig .config.old .get_maintainer.ignore .mailmap .rustfmt.toml .version CREDITS MAINTAINERS README dpkg-source: info: use the '3.0 (quilt)' format to have separate and documented changes to upstream files, see dpkg-source(1) dpkg-source: error: unrepresentable changes to source dpkg-buildpackage: error: dpkg-source -i.git -b . subprocess returned exit status 1 make[1]: *** [scripts/Makefile.package:90: deb-pkg] Error 1 make: *** [Makefile:1665: deb-pkg] Error 2I am able to install the RT kernel with Ubuntu 22.04 now thanks to my genius fellow. And here is the solution:
Follow all the lines posted here.
Before
sudo make, you need to modify these lines in the .config file copied from /boot/config-xxxx-generic:
CONFIG_SYSTEM_TRUSTED_KEYS="debian/canonical-certs.pem"Change this to this:
CONFIG_SYSTEM_TRUSTED_KEYS=""And
CONFIG_SYSTEM_REVOCATION_KEYS="debian/canonical-revoked-certs.pem"to
CONFIG_SYSTEM_REVOCATION_KEYS=""(The latter key has been added to the default Canonical kernel configuration since some time.)
As we disable the keys, instead of
make -j$(nproc) deb-pkg, we just usedmake -j$(nproc)omitting deb-pkg. Otherwise we would meet some errors related to the dpkgs-source.FYI, my current kernel is 6.2.0-34-generic and the RT kernel I installed is 6.2.1-rt3. I tried kernel 5.15.96-rt61 which also worked. My experience is: when you do
make -j$(nproc) deb-pkg, if there is any error prompt, it probably does not show the real error caused by debian package or configuration. Might be wrong with this bit.Reference:
It's good to learn that you cracked the code on your issue! Thanks for sharing the solution here so other users can use it in the future! 🌟
addy1997
commented
4 months ago Hey @yijionglin,
I am facing similar issue but on Ubuntu 20.04 LTS. I am trying to install kernel 5.15.96 but I get this error. I've followed all the steps you (and @gavanderhoorn ) mentioned above but I still get this error. Please can you suggest anything?
make[2]: *** [debian/rules:7: build-arch] Error 2
dpkg-buildpackage: error: debian/rules binary subprocess returned exit status 2
make[1]: *** [scripts/Makefile.package:77: deb-pkg] Error 2
make: *** [Makefile:1611: deb-pkg] Error 2It compiles till a certain moment when I also get this error:
MODPOST modules-only.symvers
ZSTD22 arch/x86/boot/compressed/vmlinux.bin.zst
/bin/sh: 1: zstd: not found
make[2]: *** [arch/x86/boot/compressed/Makefile:143: arch/x86/boot/compressed/vmlinux.bin.zst] Error 127
make[2]: *** Deleting file 'arch/x86/boot/compressed/vmlinux.bin.zst'
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [arch/x86/boot/Makefile:115: arch/x86/boot/compressed/vmlinux] Error 2
make: *** [arch/x86/Makefile:257: bzImage] Error 2
make: *** Waiting for unfinished jobs....
Thanks, Adwait
Just a quick heads-up about the real-time kernel instructions found in your online documentation. These instructions do not seem to work anymore on ubuntu versions higher than 18.04 and kernel versions higher than 5.0. I was, however, able to build real-time kernel (v5.4.26) on ubuntu 18.04 using the steps below:
See the OLD steps
⚠️ **UPDATE:** The instructions below are not working anymore on my new system. For installing the real-time kernel on ubuntu 20.04 or higher see [my new comment](https://github.com/frankaemika/libfranka/issues/62#issuecomment-844970384). # Ubuntu 18.04 (kernel 5.4.26) instructions 1. Install the following necessary dependencies `apt-get install build-essential bc curl ca-certificates fakeroot gnupg2 libssl-dev lsb-release libelf-dev bison flex liblz4-tool libncurses-dev libssl-dev` (The liblz4-tool dependency is added here since it is not installed by default on ubuntu 18.04) 2. Download the regular kernel and the patch from the [Linux Kernel archive](https://www.kernel.org/pub/linux/kernel/projects/rt/) 3. Verifying file integrity 4. Unzip the Linux kernel `tar -xvf Linux-5.4.26.tar` 5. Go into the kernel folder `cd linux-5.4.26` 6. Apply the patch `patch -p1 < ../patch-5.4.26-rt17.patch` 7. Run `make menuconfig` and change the Preemption Model to `Fully Preemptible Kernel (RT) (PREEMPT_RT_FULL) (NEW)` (see [this stack](https://unix.stackexchange.com/questions/582075/trouble-selecting-fully-preemptible-kernel-real-time-when-configuring-compil) question for more info) 8. Disable debug info `scripts/config --disable DEBUG_INFO` (Not needed but recommended). 9. Run `make clean` 10. Make the bzImage `make -j $(nproc) bzImage` 11. Make the modules `make -j $(nproc) modules` 12. Install the modules `make -j $(nproc) modules_install` 13. Install the kernel `make -j $(nproc) install` I did not test your instructions for kernel versions lower than 5.0 or ubuntu versions lower than 18.04.