BeagleBone ROS 2 Real time linux installation

Initial steps

Ensure that you have the cross compiling toolchain installed for AM33x (gnueabi), or you can use the Linaro toolchain too. Also, git is a must have as always. Perform the following preliminary tasks:

wget -c https://releases.linaro.org/components/toolchain/binaries/6.5-2018.12/arm-linux-gnueabihf/gcc-linaro-6.5.0-2018.12-x86_64_arm-linux-gnueabihf.tar.xz
tar xf gcc-linaro-6.5.0-2018.12-x86_64_arm-linux-gnueabihf.tar.xz
export CC=`pwd`/gcc-linaro-6.5.0-2018.12-x86_64_arm-linux-gnueabihf/bin/arm-linux-gnueabihf-

Getting kernel

First, create your working directory:

mkdir ~/beaglebone_ws && cd ~/beaglebone_ws

Download the Linux kernel from the following repository: https://github.com/beagleboard/linux. You can choose 4.19-RT as a baseline version:

git clone -b 4.19-rt https://github.com/beagleboard/linux

Acknowledgements

Steps included from here: