Explore the process of preparing and tuning a Linux Real-Time kernel for a modern ARM64 SoC-based robotics platform in this 30-minute conference talk. Dive into the challenges and solutions encountered while configuring, testing, and deploying a mainline kernel with PREEMPT_RT patches on the Qualcomm Robotics RB5 platform. Learn about kernel configuration, effective testing methods, common bugs and their implications, system tuning techniques using kernel parameters and cgroups, and real-time evaluation strategies. Gain insights into troubleshooting latency spikes through tracing and discover valuable resources for optimizing performance on ARM64-based robotics systems.