Added instructions to install CUDA on a realtime kernel

Author: TimSchneider42

README.md

@@ -244,6 +244,32 @@ docker compose run --rm franky-build run-tests  # To run the tests
 docker compose run --rm franky-build build-wheels  # To build wheels for all supported python versions
 ```
 
+### Can I use CUDA jointly with Franky?
+
+Yes. However, you need to set `IGNORE_PREEMPT_RT_PRESENCE=1` during the installation and all subsequent updates of the CUDA drivers on the real-time kernel.
+
+First, make sure that you have rebooted your system after installing the real-time kernel.
+Then, add `IGNORE_PREEMPT_RT_PRESENCE=1` to `/etc/environment`, call `export IGNORE_PREEMPT_RT_PRESENCE=1` to also set it in the current session and follow the instructions of Nvidia to install CUDA on your system.
+
+If you are on Ubuntu, you can also use [this](tools/install_cuda_realtime.bash) script to install CUDA on your real-time system:
+```bash
+# Download the script
+wget https://raw.githubusercontent.com/timschneider42/franky/master/tools/install_cuda_realtime.bash
+
+# Inspect the script to ensure it does what you expect
+
+# Make it executable
+chmod +x install_cuda_realtime.bash
+
+# Execute the script
+./install_cuda_realtime.bash
+```
+
+Alternatively, if you are a cowboy and do not care about security, you can also use this one-liner to directly call the script without checking it:
+```bash
+bash <(wget -qO- https://raw.githubusercontent.com/timschneider42/franky/master/tools/install_cuda_realtime.bash)
+```
+
 ## 📚 Tutorial
 
 Franky comes with both a C++ and Python API that differ only regarding real-time capability.

tools/install_cuda_realtime.bash

@@ -0,0 +1,37 @@
+#!/bin/bash
+# Author: Tim Schneider <tim@robot-learning.de>
+
+# Installs CUDA drivers on a fresh Ubuntu with realtime kernel. If other CUDA drivers are already installed, please remove them prior 
+# to running this script, e.g. with
+# sudo apt purge 'nvidia-*'
+# sudo apt autoremove
+# sudo apt autoclean
+
+# Install cuda drivers following https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html#ubuntu
+# Install linux headers for your kernel version
+sudo apt-get -y install linux-headers-$(uname -r) &&
+
+# Delete old Nvidia key
+sudo apt-key del 7fa2af80;
+
+# Install new Nvidia key
+ubuntu_version=$(lsb_release -r | awk '{print $2}' | tr -d '.')
+arch=$(uname -m)
+wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu${ubuntu_version}/$arch/cuda-keyring_1.1-1_all.deb -P /tmp/ &&
+if sudo dpkg -i /tmp/cuda-keyring_1.1-1_all.deb; then
+	rm /tmp/cuda-keyring_1.1-1_all.deb
+else
+	rm /tmp/cuda-keyring_1.1-1_all.deb
+	exit 1
+fi
+
+# Set IGNORE_PREEMPT_RT_PRESENCE persistently
+grep -qxF 'IGNORE_PREEMPT_RT_PRESENCE=1' /etc/environment || echo 'IGNORE_PREEMPT_RT_PRESENCE=1' | sudo tee -a /etc/environment > /dev/null &&
+
+# Install cuda drivers
+sudo apt-get update &&
+
+# Here we deviate from the online guide by telling the installer to ignore the presence of the realtime kernel
+sudo IGNORE_PREEMPT_RT_PRESENCE=1 apt-get -y install cuda-drivers &&
+
+echo "Please reboot the system now."