Hello all,
I am trying to use the ur_rtde library on a Mac laptop (running on a Mac Silicon processor, Mac OS Tahoe 26.2). Whenever I run a program, I get the warning RTDEControlInterface: realtime kernel not found, consider using a realtime kernel for better performance. Does anyone know if it is possible to patch the Mac kernel for real-time processing? The ur_rtde real-time setup guide discusses real-time kernels for Linux and Windows, but not for Mac.
I am having some trouble executing a custom program that includes calculating inverse kinematics and commanding direct joint torques, and I am wondering if the realtime kernel is at the root of the problem. (In particular, I’m finding that changing rtde_frequency actually changes how long it takes for the functions rtde_c.getInverseKinematics and rtde_c.directTorque take to execute; each take multiple milliseconds which is too long).