About Preempt-RT module name and header name

Please provide the following info:
I have install preempt-RT to the AGX, but I find the name of headers and module are different.This question has resulted in that the IgH Ethercat Master can’t install and run.The ethercat module is instaIled into “/lib/modules/4.9.140-tegra/”,but not “/lib/modules/4.9.140-rt93-tegra/”.
the path of headers : /usr/src/linux-headers-4.9.140-tegra-ubuntu18.04_aarch64
the path of modules:/lib/modules/4.9.140-rt93-tegra/
The name headers should be linux-headers-4.9.140-rt93-tegra-ubuntu18.04_aarch64,but it has not this folder.
I want to know how to solve this question? Thanks.

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Can you share if you are using the NVIDIA DRIVE AGX platform or an NVIDIA Jetson AGX?

Yes, the NVIDIA Jetson AGX.I compile the kernel by the method Setting up Realtime Kernel on Jetson.

Have a check below document to install the kernel module.