# Building Realtime rt\_preempt kernel for ROS 2

**URL:** <https://discourse.openrobotics.org/t/building-realtime-rt-preempt-kernel-for-ros-2/17362>\
**Category:** ROS General\
**Tags:** wg-real-time\
**Created:** [November 16, 2020, 8:25pm UTC](https://discourse.openrobotics.org/t/building-realtime-rt-preempt-kernel-for-ros-2/17362 "2020-11-16T20:25:39Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![razr](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/razr/32/2898_2.png) [@razr](https://discourse.openrobotics.org/u/razr)\
**Post date:** [November 16, 2020, 8:25pm UTC](https://discourse.openrobotics.org/t/building-realtime-rt-preempt-kernel-for-ros-2/17362/1 "2020-11-16T20:25:39Z")

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I have updated a ROS2 documentation page [Building Realtime rt\_preempt kernel for ROS 2](https://github.com/ros2/ros2_documentation/blob/master/source/Tutorials/Building-Realtime-rt_preempt-kernel-for-ROS-2.rst). It is now based on Ubuntu 20.04, the latest RT kernel, and x86\_64 Intel architecture. I’d like to extend this description and add a Raspberry Pi4 kernel setup as well.  
I have created a [Dockerfile](https://github.com/razr/RTWG/blob/master/.gitpod.Dockerfile) to cross-compile Ubuntu raspi kernel and wondering what repo should I use for it? Any suggestions are welcome.  
Kind Regards,  
Andrei.

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**Author:** ![facontidavide](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/facontidavide/32/1674_2.png) [@facontidavide](https://discourse.openrobotics.org/u/facontidavide)\
**Post date:** [November 17, 2020, 12:52pm UTC](https://discourse.openrobotics.org/t/building-realtime-rt-preempt-kernel-for-ros-2/17362/2 "2020-11-17T12:52:04Z")

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This is great! Thanks for sharing