I managed to compile and install a PREEMPT_RT patched kernel to my TX2 using the information I gathered from various threads on this forum. However, I was not able to find any detailed discussions around Xenomai. So I would like to ask some questions regarding the comparison of those two real-time solutions in the domain of TX2 or other Jetson boards.
1- How compatible is Xenomai with the Jetson family? As far as I know, the Jetson family has lots of drivers to deal with different components such as the GPU, do these drivers have an effect on Xenomai’s performance on a Jetson system?
2- In many publications, it is reported that Xenomai has better hard realtime performance with less jitter than the PREEMPT_RT patch. To my understanding, real-time performance is closely related to the system configuration, so in the scope of the Jetson family, how do Xenomai and PREEMPT_RT compare?
For people who are looking for ways to use PREEMPT_RT patched kernels, I’ll leave some links below!
- https://github.com/kozyilmaz/nvidia-jetson-rt/blob/master/docs/README.03-realtime.md - a popular repo around here, the files you download from NVIDIA will have different names now, so you will need to change the commands accordingly. Also, this repo uses a host pc to compile the kernel and then sends the compiled kernel to a TX2 board.
- Is there any Real Time OS for Jetson??? - this particular post is important if you are getting bad latency results during a cyclic test. You need to change the nvpmodel before running your cyclic test.