This tutorial will present how to compile and install a Xenomai-patched Linux kernel. Moreover, we will build Debian packages to ease the installation process. At the time of writing, the most recent stable version of Xenomai is 3.1 and the latest supported Linux kernel version is 4.19.89. However, these instructions should be valid for past and future versions. All the instructions have been executed on a machine running Ubuntu 20.04. Pre-requisites Install the following required packages: Download required files From…